CN105773661A - Horizontal robot fixed camera lower workpiece translation and rotation calibration method - Google Patents
Horizontal robot fixed camera lower workpiece translation and rotation calibration method Download PDFInfo
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- CN105773661A CN105773661A CN201610190902.5A CN201610190902A CN105773661A CN 105773661 A CN105773661 A CN 105773661A CN 201610190902 A CN201610190902 A CN 201610190902A CN 105773661 A CN105773661 A CN 105773661A
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- 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 6
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention relates to the technical field of visual robots, in particular to a horizontal robot fixed camera lower workpiece translation and rotation calibration method. The method comprises the following steps: A, a horizontal robot controls a calibration board to move in an X direction from a reference position, and the position of a target is detected; B, the horizontal robot controls the calibration board to move in a Y direction from the reference position, and the position of the target is detected; C, the horizontal robot controls the calibration board to rotate in a Theta direction by taking the rotation axis of a rotation actuating unit as a center, and the position of the target is detected; D, the horizontal robot controls the calibration board to rotate in the Theta direction by taking the target as a center, and the position of the target is detected; and E, after all position information of the horizontal robot is obtained, calibration of the fixed camera is realized in combination with the motion information of the horizontal robot. The method has the advantages of simple setting and automatic calibration; an on-site maintenance engineer can solve a point position calibration problem by pressing a button; and the calibration efficiency is high, and the maintenance cost is low.
Description
Technical field
The present invention relates to vision robotics field, refer in particular to workpiece translational motion under a kind of horizontal machine people's fixed camera and rotate scaling method.
Background technology
In image measurement process and machine vision applications, in order to obtain object more comprehensively information, generally require multiple camera and carry out the morphological characteristic of reconstruction of objects with the use of collection subject image.Wherein, with the use of camera need to set up the spatial relationship determined, and so as to unified in identical coordinate system, so could the morphological characteristic of reconstruction of objects accurately, namely camera is demarcated by this process.
In the prior art, demarcation for robot system, the method being generally adopted artificial teaching, such as, manually control robot, with multiple different attitude (for six-joint robot, be generally four kinds or more kinds of different attitude), the instrument installed on it is moved to same impact point.But, owing to requiring over human eye to judge whether instrument moves to same impact point, therefore, inevitably there is error, cause that instrument is inaccurate relative to the demarcation of the transfer matrix of the tool center point of robot (toolcenterpoint) coordinate system, and manually control robot and arrive same impact point with multiple different attitude and rely on human eye to judge whether that the work arriving same impact point is very time-consuming, affect work efficiency.For needing often to change the robot system of instrument, after often changing an instrument, once will again demarcate, bother very much, very time-consuming.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of without workpiece translational motion rotation scaling method under horizontal machine people's fixed camera of reasoning and calculating, have and set the advantage simply and automatically demarcated, after the position of camera or direction change, Onsite Maintenance Engineer can be settled a dispute by the parties concerned themselves location position problem, demarcation efficiency is high, and maintenance cost is relatively low.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that
Under a kind of horizontal machine people's fixed camera, workpiece translational motion rotates scaling method, including pedestal, the horizontal machine people being installed on pedestal and the fixed camera being fixed on pedestal, it is characterized in that: the rotation actuating station of described horizontal machine people is provided with scaling board, this scaling board is provided with target, described fixed camera be set with reference position within sweep of the eye, this field range is positioned at the scope of scaling board；Camera calibration step includes:
Step A, horizontal machine people control scaling board and move in X direction from reference position, and detect target position；
Step B, horizontal machine people control scaling board and move along Y-direction from reference position, and detect target position；
Step C, horizontal machine people control scaling board and rotate along θ direction centered by the rotation central axis rotating actuating station, and detect target position；
Step D, horizontal machine people control scaling board and rotate along θ direction centered by target, and detect target position；
After step E, horizontal machine people get whole positional informationes of above-mentioned robot, the movable information in conjunction with horizontal robot realizes the demarcation to fixed camera.
Preferably, in described step C, horizontal machine people controls scaling board and first rotates forward along θ direction centered by the rotation central axis rotating actuating station, and detect a target position, horizontal machine people controls scaling board and rotates backward along θ direction centered by the rotation central axis rotating actuating station again, and detects another target position.
Preferably, in described step D, horizontal machine people controls scaling board and first rotates forward along θ direction centered by target, and detects a target position；Horizontal machine people controls scaling board and first rotates backward along θ direction centered by target, and detects another target position.
Preferably, the rotational angle of described scaling board is 20 °～90 °.
Preferably, described scaling board is rectangular slab, and one end of this scaling board is fixing with the rotation actuating station of described horizontal machine people to be connected, and described target is positioned at the other end of this scaling board.
Preferably, described field range is square, and the width of described scaling board is more than the length of side of field range.
The beneficial effects of the present invention is:
The invention provides workpiece translational motion under a kind of horizontal machine people's fixed camera and rotate scaling method, operation in conjunction with sequencing, the multi-point calibration action of one-touch automatization can be realized, by the exercise data of above-mentioned multiple target position and horizontal machine people is realized the demarcation to camera, have and set the advantage simply and automatically demarcated, Onsite Maintenance Engineer can one-touch solution point demarcation problem, it is high to demarcate efficiency, and maintenance cost is relatively low.
Accompanying drawing explanation
Fig. 1 is the perspective view of horizontal machine people of the present invention, scaling board and fixed camera.
Fig. 2 is scaling board structural representation of the present invention.
Fig. 3 is the workflow schematic diagram that under horizontal machine people's fixed camera of the present invention, workpiece translational motion rotates scaling method.
Detailed description of the invention
For the ease of the understanding of those skilled in the art, below in conjunction with embodiment, the present invention is further illustrated with accompanying drawing, and the content that embodiment is mentioned not is limitation of the invention.
As shown in Figures 1 to 3, under a kind of horizontal machine people's fixed camera, workpiece translational motion rotates scaling method, including pedestal, the horizontal machine people 1 being installed on pedestal and the fixed camera 2 being fixed on pedestal, the rotation actuating station 7 of described horizontal machine people 1 is provided with scaling board 3, being provided with target 4 on this scaling board 3, be set with reference position 6 in the field range 5 of described fixed camera 2, this field range 5 is positioned at the scope of scaling board 3；Camera calibration step includes:
Step A, horizontal machine people 1 control scaling board 3 and move in X direction from reference position 6, and detect target 4 position；
Step B, horizontal machine people 1 control scaling board 3 and move along Y-direction from reference position 6, and detect target 4 position；
Step C, horizontal machine people 1 control scaling board 3 and rotate along θ direction centered by the rotation central axis rotating actuating station 7, and detect target 4 position；
Step D, horizontal machine people 1 control scaling board 3 and rotate along θ direction centered by target 4, and detect target 4 position；
After step E, horizontal machine people 1 get whole positional informationes of above-mentioned robot, the movable information in conjunction with horizontal robot 1 realizes the demarcation to fixed camera 2.
The invention provides workpiece translational motion under a kind of horizontal machine people's fixed camera and rotate scaling method, operation in conjunction with sequencing, the multi-point calibration action of one-touch automatization can be realized, by the exercise data of above-mentioned multiple target 4 positions and horizontal machine people 1 is realized the demarcation to camera, have and set the advantage simply and automatically demarcated, Onsite Maintenance Engineer can one-touch solution point demarcation problem, it is high to demarcate efficiency, and maintenance cost is relatively low.
In the present embodiment, in described step C, horizontal machine people 1 controls scaling board 3 and first rotates forward along θ direction centered by the rotation central axis rotating actuating station 7, and detect target 4 position, horizontal machine people 1 controls scaling board 3 and rotates backward along θ direction centered by the rotation central axis rotating actuating station 7 again, and detects another target 4 position；In described step D, horizontal machine people 1 controls scaling board 3 and first rotates forward along θ direction centered by target 4, and detects target 4 position；Horizontal machine people 1 controls scaling board 3 and first rotates backward along θ direction centered by target 4, and detects another target 4 position.Being undertaken by the step of the method, the location parameter of target 4 is more, can realize more accurate camera calibration in conjunction with corresponding exercise data, and practicality is higher.
In camera calibration process, the rotational angle of described scaling board 3 is preferably chosen for angle between 20 °～90 °, and the difference of multiple rotational angle is more than 15 °, such as 20 °, 45 °, 60 ° 90 ° etc. are prone to reduce and calculate error and bigger target 4 position of position gap carries out camera calibration action, are effectively improved camera calibration precision further.
As preferred embodiment, described scaling board 3 is rectangular slab, and one end of this scaling board 3 is fixing with the rotation actuating station 7 of described horizontal machine people 1 to be connected, and described target 4 is positioned at the other end of this scaling board 3.Concrete, described field range 5 is square, and the width of described scaling board 3 is more than the length of side of field range 5.Ensureing not only to achieve being smoothed out of camera calibration step under the premise of demarcation accuracy, also substantially reduce the overall dimensions of scaling board 3, operability is higher.
Embodiment described above only have expressed one embodiment of the present invention, and it describes comparatively 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 the person of ordinary skill of the art, without departing from the inventive concept of the premise, it is also possible to making some deformation and improvement, these broadly fall into protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (6)
1. under horizontal machine people fixed camera, workpiece translational motion rotates scaling method, including pedestal, the horizontal machine people (1) being installed on pedestal and the fixed camera (2) being fixed on pedestal, it is characterized in that: the rotation actuating station (7) of described horizontal machine people (1) is provided with scaling board (3), this scaling board (3) is provided with target (4), being set with reference position (6) in the field range (5) of described fixed camera (2), this field range (5) is positioned at the scope of scaling board (3)；Camera calibration step includes:
Step A, horizontal machine people (1) control scaling board (3) and move in X direction from reference position (6), and detect target (4) position；
Step B, horizontal machine people (1) control scaling board (3) and move along Y-direction from reference position (6), and detect target (4) position；
Step C, horizontal machine people (1) control scaling board (3) and rotate along θ direction centered by the rotation central axis rotating actuating station (7), and detect target (4) position；
Step D, horizontal machine people (1) control scaling board (3) and rotate along θ direction centered by target (4), and detect target (4) position；
After step E, horizontal machine people (1) get whole positional informationes of above-mentioned robot, the movable information in conjunction with horizontal robot (1) realizes the demarcation to fixed camera (2).
2. under horizontal machine people's fixed camera according to claim 1, workpiece translational motion rotates scaling method, it is characterized in that: in described step C, horizontal machine people (1) controls scaling board (3) and first rotates forward along θ direction centered by the rotation central axis rotating actuating station (7), and detect target (4) position, horizontal machine people (1) controls scaling board (3) and rotates backward along θ direction centered by the rotation central axis rotating actuating station (7) again, and detects another target (4) position.
3. under horizontal machine people's fixed camera according to claim 1, workpiece translational motion rotates scaling method, it is characterized in that: in described step D, horizontal machine people (1) controls scaling board (3) and first rotates forward along θ direction centered by target (4), and detects target (4) position；Horizontal machine people (1) controls scaling board (3) and first rotates backward along θ direction centered by target (4), and detects another target (4) position.
4. under the horizontal machine people's fixed camera according to Claims 2 or 3, workpiece translational motion rotates scaling method, it is characterised in that: the rotational angle of described scaling board (3) is 20 °～90 °.
5. under horizontal machine people's fixed camera according to claim 1, workpiece translational motion rotates scaling method, it is characterized in that: described scaling board (3) is rectangular slab, one end of this scaling board (3) is fixing with the rotation actuating station (7) of described horizontal machine people (1) to be connected, and described target (4) is positioned at the other end of this scaling board (3).
6. under horizontal machine people's fixed camera according to claim 1, workpiece translational motion rotates scaling method, it is characterized in that: described field range (5) is square, and the width of described scaling board (3) is more than the length of side of field range (5).
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| CN107756391A (en) * | 2016-08-19 | 2018-03-06 | 达观科技有限公司 | The bearing calibration of mechanical arm correction system |
| CN108717715A (en) * | 2018-06-11 | 2018-10-30 | 华南理工大学 | A kind of line-structured light vision system automatic calibration method for arc welding robot |
| CN108748159A (en) * | 2018-06-20 | 2018-11-06 | 无锡信捷电气股份有限公司 | A kind of mechanical arm tool coordinates system self-calibrating method |
| CN110555887A (en) * | 2019-07-30 | 2019-12-10 | 北京小马智行科技有限公司 | Calibration method applied to camera calibration system and camera calibration system |
| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
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| CN111311692A (en) * | 2020-03-05 | 2020-06-19 | 广州市斯睿特智能科技有限公司 | Visual calibration method for simple robot |
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