CN109465830A - Robot single eye stereo vision calibration system and method - Google Patents
Robot single eye stereo vision calibration system and method Download PDFInfo
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- CN109465830A CN109465830A CN201811515700.9A CN201811515700A CN109465830A CN 109465830 A CN109465830 A CN 109465830A CN 201811515700 A CN201811515700 A CN 201811515700A CN 109465830 A CN109465830 A CN 109465830A
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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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/1605—Simulation of manipulator lay-out, design, modelling of manipulator
Abstract
The present invention provides a kind of robot single eye stereo vision calibration system and method, the systems, comprising: information acquisition module, video camera modeling module, joint of robot axis demarcating module, calibration feedback establish module with fitting module, robot model.Wherein, calibration feedback and fitting module, comprising: fitting unit, Eulerian angles seek unit again for actual deviation rate judging unit, axis；Actual deviation rate judging unit, for calculating the deviation of the data of high-definition camera acquisition and the data of infrared remote sensor acquisition；Axis fitting unit again, for the amendment to high-definition camera acquisition data；Eulerian angles seek unit, measure the data for projection that actual value is projected in three reference axis of three-dimensional world coordinate system for calculating infrared remote sensor, carry out the calculating of deviation ratio.To realize the dependence reduced to the clarity of high-definition camera, the cost of equipment is reduced, the precision of calibration is improved, is conducive to being widely applied for robot.
Description
Technical field
The present invention relates to intelligent robot field of locating technology, and in particular, to a kind of robot single eye stereo vision mark
Determine system and method.
Background technique
With the development of science and technology, all trades and professions are directed to and use intelligent robot to carry out a series of production activities, with
Instead of traditional manual operation, to save human resources, working efficiency is greatly improved, and in field in intelligent robotics, one
Important link is exactly robotic vision calibration, its accuracy directly decides the work precision and efficiency of robot.
Currently, robotic vision calibration system is divided into monocular and binocular two ways.Wherein, monocular vision calibration system
Kinematics loop method and shaft centerline measurement method are mainly used, kinematics loop method mainly passes through the position that measurement obtains robot end
Then appearance solves the kinematical equation of robot to obtain the joint parameter of robot, and shaft centerline measurement method is by robot
Joints axes are abstracted into the straight line in space, find out model sport parameter using the geometrical relationship between joints axes.
But clarity of this monocular vision calibration system due to depending on camera unduly, so that the cost of equipment is big
It is big to improve, influence being widely applied for robot.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of robot single eye stereo vision calibration systems
And method.
In a first aspect, the embodiment of the present invention provides a kind of robot single eye stereo vision calibration system, comprising: information collection
Module, video camera modeling module, joint of robot axis demarcating module, calibration feedback and fitting module, robot model establish
Module；Wherein:
The output end of the information acquisition module and the video camera modeling module, calibration feedback and fitting module communication link
It connects, for the linear distance of the target image of acquisition, target to joint of robot, and by the target image, target to machine
The linear distance of person joint is transmitted separately to video camera modeling module, calibration feedback and fitting module；
The output end of the video camera modeling module and the joint of robot axis demarcating module communicate to connect, for building
The scaling module of vertical three-dimensional world coordinate system and computer picture coordinate system, exports image information；
The output end and input terminal of the joint of robot axis demarcating module are fed back and fitting module respectively with calibration
Input terminal and output end communication connection；The output end of the joint of robot axis demarcating module and robot model establish module
Input terminal communication connection, for according to image information and calibration feedback with fitting module feedback actual deviation information, into
The fitting and calibration of row joint of robot axis export the joints axes data of robot；
The calibration feedback establishes module, joint of robot axis with the output end of fitting module and the robot model
The input terminal of demarcating module communicates to connect, for the reality according to the linear distance for calculating target image, target to joint of robot
Border deviation；
The robot model establishes the input terminal of module and the calibration is fed back and fitting module, joint of robot axis
The output end of demarcating module communicates to connect, and for joints axes data, the actual deviation according to robot, establishes robot mould
Type.
Optionally, the information acquisition system, comprising: high-definition camera, infrared remote sensor are respectively used to acquisition target figure
The linear distance of picture, target to joint of robot；Wherein, the high-definition camera, infrared remote sensor are fixedly mounted on robot
End, and in up and down distribution.
Optionally, the video camera modeling module, is specifically used for:
Establish the scaling module of three-dimensional world coordinate system Yu computer picture coordinate system；
According to the scaling module, the corresponding image information of target image is exported.
Optionally, the scaling module for establishing three-dimensional world coordinate system Yu computer picture coordinate system, comprising:
Establish three-dimensional world coordinate system to camera coordinate system transformation for mula:
Wherein, R indicates that rotating orthogonal matrix, T indicate translation vector, (r1, r4, r7)、(r2, r5, r8)、(r3, r6, r9) point
It Biao Shi not xw、yw、zwUnit direction vector component of the reference axis in camera coordinate system, tx、tv、tzRespectively indicate translation vector
Unit direction vector component in camera coordinate system, xw、yw、zwTarget is respectively indicated respectively to sit in three-dimensional world coordinate system
Parameter projection vector, x, y, z respectively indicate target each reference axis projection vector in camera coordinate system；
Establish the coordinate in three-dimensional world coordinate system to computer picture coordinate system coordinate perspective transform relation formula:
Wherein, (Nx, Ny) is the image coordinates of video camera image coordinates system, and f is lens focus, (u0, v0) it is principal point, ρ table
Show that the point in computer picture coordinate system, u, v, l respectively indicate target in computer picture coordinate system Zhong Ge coordinate axial projection
Vector.
Optionally, the joint of robot axis demarcating module, comprising: calibration point acquiring unit, camera optical center coordinate
Scaling unit, axial equation fitting unit；Wherein, the output end Yu camera optical center coordinate transformation of the calibration point acquiring unit
The input terminal of unit communicates to connect；The input terminal of the camera optical center coordinate transformation unit and the output of video camera modeling module
End communication connection, the output end of the camera optical center coordinate transformation unit and the input terminal communication link of axial equation fitting unit
It connects；The output end with calibration feedback with fitting module and the input respectively of the input terminal and output end of the axial equation fitting unit
The input terminal that end communication connection, the output end of the axial equation fitting unit and robot model establish module communicates to connect.
Optionally, the joint of robot axis demarcating module, is specifically used for:
Calibration point acquiring unit is respectively taken centered on the point up and down using a point on target as initial value
Five pixels find out image coordinates u and v, calculation formula by column and by row respectively are as follows:
Wherein, f (ui, vi) it is (ui, vi) pixel gray value, n≤120；
Optical center coordinate of the high-definition camera in camera coordinate system is converted into three by camera optical center coordinate transformation unit
Tie up the coordinate in world coordinate system, calculation formula are as follows:
Multiple groups camera optical center coordinate data is fitted a circle by axial equation fitting unit, is fitted one by the center of circle
And the straight line of vertical disk, as axial equation.
Optionally, calibration feedback and fitting module, comprising: Eulerian angles seek unit, actual deviation rate judging unit,
Axis fitting unit again；Wherein, the output end of the Eulerian angles seek unit input terminal and axial equation fitting unit leads to
Letter connection；The output end that the Eulerian angles seek unit judges with camera optical center coordinate transformation unit and actual deviation rate respectively
The input terminal of unit communicates to connect；The output end of the actual deviation rate judging unit respectively with axis again fitting unit and machine
The input terminal of device people's model foundation system communicates to connect；The output end of fitting unit and axial equation fitting are single again for the axis
The input terminal electrical connection of member.
Optionally, the calibration feedback and fitting module, are specifically used for:
Eulerian angles seek unit, and for calculating Euler's corner, calculation formula is as follows:
θx=a tan2 (r8, r9)
θz=a tan2 (r4, r1)
Wherein, a tan is the arctan function of trigonometric function tan, and θ x, θ y, θ z are respectively that three-dimensional world coordinate system is opposite
Three coordinate rotation angles of camera coordinate system rotation；
Actual deviation rate judging unit, it is opposite practical with infrared remote sensor for calculating the coordinate value under camera coordinate system
The deviation ratio of coordinate value is measured, calculation formula is as follows:
In formula, η indicates that the coordinate value under camera coordinate system is opposite and the deviation of the actually measured coordinate value of infrared remote sensor
Rate, ABS indicate that the function that takes absolute value, d indicate the traversing axial coordinate value of the actually measured coordinate value of infrared remote sensor, and X indicates camera shooting
The traversing axial coordinate value of machine coordinate system, m indicates predetermined reference value, by being manually entered；
Axis fitting unit again, for being fitted axial equation, calculation formula is as follows:
Wherein, X 'wIndicate camera optical center revised coordinate value in three-dimensional world coordinate system.
Optionally, the robot model establishes module and establishes link rod coordinate system using D-H Mo Xing.
Second aspect, the embodiment of the present invention provide a kind of robot single eye stereo vision scaling method, are applied to first party
Robot single eye stereo vision calibration system described in any one of face executes robot single eye stereo vision proving operation.
Compared with prior art, the present invention have it is following the utility model has the advantages that
Robot single eye stereo vision calibration system provided by the invention by setting calibration feedback and is fitted system, by
Actual deviation rate judging unit calculates the deviation of the data of current high-definition camera acquisition and the data of infrared remote sensor acquisition, and
Judgment bias height, then decide whether by axis again fitting unit again fitting data, so as to realize to high-definition camera
The amendment of head acquisition data, so that high-definition camera and the dual cooperating of infrared remote sensor, this measure can be reduced to high-definition camera
The clarity of head excessively relies on, to reduce the cost of equipment, is conducive to being widely applied for robot.
On the other hand, unit is sought by the way that Eulerian angles are arranged, is mutually calculated using Eulerian angles and rotating orthogonal matrix, so as to
The rotation angle between three-dimensional world coordinate system and camera coordinate system is easily calculated, and then infrared distant by rotation angle calculating
Sensor measures the data for projection that actual value is projected in three reference axis of three-dimensional world coordinate system, is convenient for the meter of deviation ratio
It calculates, so that the calculation process that calibration feedback is modified with the data that fitting system acquires high-definition camera is advanced optimized,
So that system architecture is more reasonable.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic diagram of robot single eye stereo vision calibration system provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of information acquisition module provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of video camera modeling module provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of joint of robot axis demarcating module provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of calibration feedback and fitting module provided in an embodiment of the present invention；
Fig. 6 is the company of joint of robot axis demarcating module provided in an embodiment of the present invention and calibration feedback and fitting module
Connect schematic diagram.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
Fig. 1 is the structural schematic diagram of robot single eye stereo vision calibration system provided in an embodiment of the present invention, such as Fig. 1 institute
Show, system provided by the invention, comprising: information acquisition module 10, video camera modeling module 20, joint of robot axis calibration mold
Block 30, calibration feedback establish module 50 with fitting module 40 and robot model.The output end of information acquisition module 10 is electric respectively
Connect the input terminal of video camera modeling module 20 and calibration feedback and fitting module 40.
Fig. 2 is the structural schematic diagram of information acquisition module provided in an embodiment of the present invention, as shown in Fig. 2, information collection mould
Block 10 includes high-definition camera 11 and infrared remote sensor 12, and the output end of high-definition camera 11 and infrared remote sensor 12 is electrically connected respectively
Connect the input terminal and calibration feedback and the input terminal of fitting module 40 of video camera modeling module 20, high-definition camera 11 and infrared distant
Sensor 12 is respectively used to the linear distance of acquisition target image and target to joint of robot, high-definition camera 11 and infrared remote sensing
Device 12 is fixedly mounted on the end of robot and in distribution up and down.
Fig. 3 is the structural schematic diagram of video camera modeling module provided in an embodiment of the present invention, as shown in figure 3, video camera is built
Mould module 20 includes that three-dimensional world coordinate system 21, camera coordinate system 22, video camera image coordinates system 23 and computer picture are sat
Mark system 24, three-dimensional world coordinate system 21, camera coordinate system 22, video camera image coordinates system 23 and computer picture coordinate system 24
Between converted using following reduction formula:
From three-dimensional world coordinate system 21 to the transformation for mula of camera coordinate system 22:
Wherein, R indicates that rotating orthogonal matrix, T indicate translation vector, (r1, r4, r7)、(r2, r5, r8)、(r3, r6, r9) point
It Biao Shi not xw、yw、zwUnit direction vector component of the reference axis in camera coordinate system, tx、ty、tzRespectively indicate translation vector
Unit direction vector component in camera coordinate system, xw、yw、zwTarget is respectively indicated respectively to sit in three-dimensional world coordinate system
Parameter projection vector, x, y, z respectively indicate target each reference axis projection vector in camera coordinate system.
By the coordinate perspective transform relation formula of the point in three-dimensional world coordinate system 21 to computer picture coordinate system 24 are as follows:
In formula, it is known parameters that (Nx, Ny), which is the image coordinates of video camera image coordinates system 23, rotating orthogonal matrix R,
Translation vector T, lens focus f and principal point (u0, v0) are calculated by radial arrangement restraint scaling method to be determined and sends result
To joint of robot axis demarcating module 30.Radial arrangement restraint scaling method is to utilize least square solution determined linear side
Journey provides external parameter, and then whether there is or not lens distortions to determine by video camera for inner parameter.It is interior when video camera is without lens distortion
Portion's parameter can be solved by a determined linear equation, when video camera has radial distortion, then need the method in conjunction with nonlinear optimization
Solve inner parameter.The output end of video camera modeling module 20 and the input terminal of joint of robot axis demarcating module 30 are electrically connected
It connects.
Fig. 4 is the structural schematic diagram of joint of robot axis demarcating module provided in an embodiment of the present invention, as shown in figure 4,
Joint of robot axis demarcating module 30 includes calibration point acquiring unit 31, camera optical center coordinate transformation unit 32 and axis side
Journey fitting unit 33, the input terminal of the output end electrical connection camera optical center coordinate transformation unit 32 of calibration point acquiring unit 31,
The input terminal of camera optical center coordinate transformation unit 32 is electrically connected with the output end of video camera modeling module 20, and camera optical center is sat
The output end of subscript conversion unit 32 is electrically connected with the input terminal of axial equation fitting unit 33, axial equation fitting unit 33 it is defeated
Enter end and output end to be electrically connected with calibration feedback with the output end of fitting module 40 and input terminal respectively, axial equation fitting unit
33 output end is electrically connected with the input terminal that robot model establishes module 50, and calibration point acquiring unit 31, camera optical center are sat
Following formula is respectively adopted in subscript conversion unit 32 and axial equation fitting unit 33.
Wherein, calibration point acquiring unit 31 uses a point on target as initial value, left up and down centered on the point
The right side respectively takes five pixels, finds out image coordinates u and v by column and by row respectively:
In formula, f (ui, vi) is the gray value of (ui, vi) pixel；
Wherein, camera optical center coordinate transformation unit 32 uses following formula by high-definition camera 11 in camera coordinate system
Optical center coordinate in 22 is converted into the coordinate in three-dimensional world coordinate system 21:
Wherein, axial equation fitting unit 33 is changed by calibration point acquiring unit 31 and camera optical center coordinate transformation unit 32
The multiple groups camera optical center coordinate data of calculation is fitted a circle, and the linear equation by the center of circle and vertical disk is axis side
Journey, by the way that calibration point acquiring unit 31 is arranged, by the calibration point in calibration point acquiring unit 31 freely random acquisition target, then by
The calibration point of selection symmetrically obtains adjacent calibration point up and down, compared with traditional artificial mouse point takes, this Fa Qudiangeng section
It learns rationally, it is more efficient.
The output end and input terminal of joint of robot axis demarcating module 30 are fed back and fitting module 40 respectively with calibration
Input terminal and output end electrical connection.Fig. 5 is the structural schematic diagram of calibration feedback and fitting module provided in an embodiment of the present invention, such as
Shown in Fig. 5, calibration feedback includes that Eulerian angles seek unit 41, actual deviation rate judging unit 42 and axis weight with fitting module 40
New fitting unit 43.Fig. 6 is joint of robot axis demarcating module provided in an embodiment of the present invention and calibration feedback and fitting mould
The connection schematic diagram of block, as shown in fig. 6, Eulerian angles seek the input terminal of unit 41 and the output end of axial equation fitting unit 33
Electrical connection, the output end that Eulerian angles seek unit 41 judge with camera optical center coordinate transformation unit 32 and actual deviation rate respectively
The input terminal of unit 42 is electrically connected, the output end of actual deviation rate judging unit 42 respectively with axis again fitting unit 43 and machine
The input terminal of device people model building module 50 is electrically connected, the axis output end of fitting unit 43 and axial equation fitting unit again
33 input terminal electrical connection, Eulerian angles seek unit 41, actual deviation rate judging unit 42 and axis, and fitting unit 43 divides again
Not Cai Yong following formula calculate:
Wherein, Eulerian angles seek unit 41 calculation formula it is as follows:
θx2 (r of=a tan8, r9)
θz2 (r of=a tan4, r1)
In formula, θ x, θ y, θ z are respectively the three coordinates rotation of 21 relative camera coordinate system 22 of three-dimensional world coordinate system rotation
Angle；
Wherein the calculation formula of actual deviation rate judging unit 42 is as follows:
In formula, η indicate the lower coordinate value of camera coordinate system 22 with respect to the actually measured coordinate value of infrared remote sensor 12
Deviation ratio, ABS indicate that the function that takes absolute value, d indicate the traversing axial coordinate value of the actually measured coordinate value of infrared remote sensor 12, X table
Show the traversing axial coordinate value of camera coordinate system 22, m indicates predetermined reference value, by being manually entered；
The calculation formula of its central axes fitting unit 43 again is as follows:
X ' in formulaWIndicate camera optical center revised coordinate value in three-dimensional world coordinate system 21, joint of robot axis
The output end of line demarcating module 30 is electrically connected with the input terminal that robot model establishes module 50, and robot model establishes module 50
Link rod coordinate system is established using D-H Mo Xing, calibration feedback establishes module 50 with the output end of fitting module 40 and robot model
Input terminal electrical connection.
A kind of robot single eye stereo vision scaling method comprising the steps of:
S1, the image for acquiring target respectively by high-definition camera 11 and infrared remote sensor 12 and infrared remote sensor 12 are to target
Distance, and data are transmitted to video camera modeling module 20 and actual deviation rate judging unit 42 respectively.
S2, according to coordinate system conversion formula, the data that high-definition camera 11 is transmitted carry out conversion storage, while by data
It is transferred to calibration point acquiring unit 31.
S3, obtained at random by calibration point acquiring unit 31 on target a bit, calculate calibration cell parameters, and parameter passed
It is defeated by camera optical center coordinate transformation unit 32.
S4, converted coordinate of the camera optical center in three-dimensional world coordinate system 21 by camera optical center coordinate transformation unit 32
Value, and it is fitted to axial equation via axial equation fitting unit 33, and transfer data to Eulerian angles and seek unit 41.
S5, elder generation seek unit 41 by Eulerian angles and calculate Euler's corner, then calculate high definition by actual deviation rate judging unit 42
Camera 11 is adopted as the relative deviation with 12 ranging of infrared remote sensor, and is made a decision with m.If being less than m, machine is output data to
People's model building module 50；If more than m, then axis fitting unit 43 again are output data to, via axis again fitting unit
After 43 amendment data, then by the fitting axial equation of axial equation fitting unit 33, then directly by axial equation fitting unit 33
Revised axial equation is sent to robot model and establishes module 50.
S6, the axial equation being finally fitted is divided to by two kinds of situations of approximately perpendicular axis and approximately parallel axis, is built respectively
Vertical link rod coordinate system.
The present embodiment is calculated currently by setting calibration feedback and fitting module 40 by actual deviation rate judging unit 42
The deviation for the data that the data and infrared remote sensor 12 that high-definition camera 11 acquires acquire, and judgment bias height.Then, judge
Whether by axis again fitting unit 43 again fitting data, so as to realize that acquiring data to high-definition camera 11 repairs
Just, so that high-definition camera 11 and the dual cooperating of infrared remote sensor 12.This measure can be reduced to the clear of high-definition camera 11
It spends in dependence, to reduce the cost of equipment, is conducive to being widely applied for robot.Unit is sought by the way that Eulerian angles are arranged
41, it is mutually calculated using Eulerian angles and rotating orthogonal matrix, so as to easily calculate three-dimensional world coordinate system 21 and video camera
Rotation angle between coordinate system 22, and then actual value is measured by rotation angle calculating infrared remote sensor 12 and is projected in three-dimensional world seat
Data for projection in three reference axis of mark system 21.Be convenient for the calculating of deviation ratio, thus advanced optimize calibration feedback with
The calculation process that the data that fitting module 40 acquires high-definition camera 11 are modified, so that system architecture is more reasonable.Solution
Clarity of the traditional shaft centerline measurement method of having determined due to depending on camera unduly influences machine so that the cost of equipment greatly improves
The problem of being widely applied of people.
It, can be with it should be noted that the step in the robot single eye stereo vision scaling method provided by the invention
It is achieved using corresponding module, device, unit in the robot single eye stereo vision calibration system etc., art technology
The technical solution that personnel are referred to the system realizes the step process of the method, that is, the embodiment in the system can
It is interpreted as realizing the preference of the method, it will not be described here.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. a kind of robot single eye stereo vision calibration system characterized by comprising information acquisition module, video camera modeling
Module, joint of robot axis demarcating module, calibration feedback establish module with fitting module, robot model；Wherein:
The output end of the information acquisition module and the video camera modeling module, calibration feedback are communicated to connect with fitting module,
For the linear distance of the target image of acquisition, target to joint of robot, and the target image, target are closed to robot
The linear distance of section is transmitted separately to video camera modeling module, calibration feedback and fitting module；
The output end of the video camera modeling module and the joint of robot axis demarcating module communicate to connect, for establishing three
The scaling module of world coordinate system and computer picture coordinate system is tieed up, image information is exported；
The input with calibration feedback and fitting module respectively of the output end and input terminal of the joint of robot axis demarcating module
End and output end communication connection；The output end of the joint of robot axis demarcating module establishes the defeated of module with robot model
Enter end communication connection, for the actual deviation information according to image information and calibration feedback and fitting module feedback, carries out machine
The fitting and calibration of device person joint's axis export the joints axes data of robot；
The calibration feedback establishes module with the output end of fitting module and the robot model, joint of robot axis is demarcated
The input terminal of module communicates to connect, for according to the practical inclined of the linear distance for calculating target image, target to joint of robot
Difference；
The robot model establishes the input terminal of module and calibration feedback is demarcated with fitting module, joint of robot axis
The output end of module communicates to connect, and for joints axes data, the actual deviation according to robot, establishes robot model.
2. system according to claim 1, which is characterized in that the information acquisition system, comprising: high-definition camera, red
Outer remote sensor is respectively used to the linear distance of acquisition target image, target to joint of robot；Wherein, the high-definition camera,
Infrared remote sensor is fixedly mounted on the end of robot, and in distribution up and down.
3. system according to claim 1, which is characterized in that the video camera modeling module is specifically used for:
Establish the scaling module of three-dimensional world coordinate system Yu computer picture coordinate system；
According to the scaling module, the corresponding image information of target image is exported.
4. system according to claim 3, which is characterized in that described to establish three-dimensional world coordinate system and computer picture seat
Mark the scaling module of system, comprising:
Establish three-dimensional world coordinate system to camera coordinate system transformation for mula:
Wherein, R indicates that rotating orthogonal matrix, T indicate translation vector, (r1, r4, r7)、(r2, r5, r8)、(r3, r6, r9) difference table
Show xw、yw、zwUnit direction vector component of the reference axis in camera coordinate system, tx、tv、tzTranslation vector is respectively indicated to take the photograph
Unit direction vector component in camera coordinate system, xw、yw、zwRespectively indicate target each reference axis in three-dimensional world coordinate system
Projection vector, x, y, z respectively indicate target each reference axis projection vector in camera coordinate system；
Establish the coordinate in three-dimensional world coordinate system to computer picture coordinate system coordinate perspective transform relation formula:
Wherein, (Nx, Ny) is the image coordinates of video camera image coordinates system, and f is lens focus, (u0, v0) it is principal point, ρ is indicated
Point in computer picture coordinate system, u, v, l respectively indicate target in the arrow of computer picture coordinate system Zhong Ge coordinate axial projection
Amount.
5. system according to claim 1, which is characterized in that the joint of robot axis demarcating module, comprising: calibration
Point acquiring unit, camera optical center coordinate transformation unit, axial equation fitting unit；Wherein, the calibration point acquiring unit
The input terminal of output end and camera optical center coordinate transformation unit communicates to connect；The camera optical center coordinate transformation unit it is defeated
The output end for entering end and video camera modeling module communicates to connect, the output end and axis of the camera optical center coordinate transformation unit
The input terminal of equation model unit communicates to connect；The input terminal and output end of the axial equation fitting unit are anti-with calibration respectively
Feedback and the output end and input terminal of fitting module communicate to connect, the output end of the axial equation fitting unit and robot model
Establish the input terminal communication connection of module.
6. system according to claim 5, which is characterized in that the joint of robot axis demarcating module is specifically used for:
Calibration point acquiring unit respectively takes five centered on the point using a point on target as initial value up and down
Pixel finds out image coordinates u and v, calculation formula by column and by row respectively are as follows:
Wherein, f (ui, vi) is the gray value of (ui, vi) pixel, n≤120；
Optical center coordinate of the high-definition camera in camera coordinate system is converted into three-dimensional generation by camera optical center coordinate transformation unit
Coordinate in boundary's coordinate system, calculation formula are as follows:
Multiple groups camera optical center coordinate data is fitted a circle by axial equation fitting unit, is fitted one by the center of circle and is hung down
The straight line of straight disk, as axial equation.
7. system according to claim 1, which is characterized in that the calibration feedback and fitting module, comprising: Eulerian angles are asked
Take unit, actual deviation rate judging unit, axis fitting unit again；Wherein, the Eulerian angles seek the input terminal of unit with
The output end of axial equation fitting unit communicates to connect；The output end that the Eulerian angles seek unit is sat with camera optical center respectively
The communication connection of the input terminal of subscript conversion unit and actual deviation rate judging unit；The output end of the actual deviation rate judging unit
The input terminal communication connection of system is established with axis again fitting unit and robot model respectively；The axis is fitted list again
The output end of member is electrically connected with the input terminal of axial equation fitting unit.
8. system according to claim 7, which is characterized in that the calibration feedback and fitting module are specifically used for:
Eulerian angles seek unit, and for calculating Euler's corner, calculation formula is as follows:
θx2 (r of=a tan8, r9)
θz=a tan2 (r4, r1)
Wherein, a tan is the arctan function of trigonometric function tan, and θ x, θ y, θ z, which are respectively that three-dimensional world coordinate system is opposite, to image
Three coordinate rotation angles of machine coordinate system rotation；
Actual deviation rate judging unit, it is opposite actually measured with infrared remote sensor for calculating the coordinate value under camera coordinate system
The deviation ratio of coordinate value, calculation formula are as follows:
In formula, η indicates the opposite deviation ratio with the actually measured coordinate value of infrared remote sensor of the coordinate value under camera coordinate system,
ABS indicates that the function that takes absolute value, d indicate the traversing axial coordinate value of the actually measured coordinate value of infrared remote sensor, and X indicates that video camera is sat
The traversing axial coordinate value of system is marked, m indicates predetermined reference value, by being manually entered；
Axis fitting unit again, for being fitted axial equation, calculation formula is as follows:
Wherein, X 'WIndicate camera optical center revised coordinate value in three-dimensional world coordinate system.
9. system according to claim 1, which is characterized in that the robot model is established module and built using D-H Mo Xing
Vertical link rod coordinate system.
10. a kind of robot single eye stereo vision scaling method, which is characterized in that be applied to any one of claim 1-9 institute
The robot single eye stereo vision calibration system stated executes robot single eye stereo vision proving operation.
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| CN201811515700.9A CN109465830B (en) | 2018-12-11 | 2018-12-11 | Robot monocular stereoscopic vision calibration system and method |
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