CN109615662A - A kind of coordinate system scaling method, system, computer readable storage medium and equipment - Google Patents
A kind of coordinate system scaling method, system, computer readable storage medium and equipment Download PDFInfo
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Abstract
The present invention provides a kind of coordinate system scaling method, it is demarcated for coordinate system between multi-vision visual system and robot, a point light source is provided on the end of the robot, the point light source is in the field range of the multi-vision visual system, and the scaling method is the following steps are included: demarcate the multi-vision visual system；It identifies and positions the point light source；Set of coordinates of the point light source in different location is recorded, the set of coordinates includes coordinate of the point light source in visual coordinate system and the coordinate in robot coordinate system；The transformation matrix between the visual coordinate system and the robot coordinate system is solved according to set of coordinates of the point light source in different location.The present invention can simply, quickly realize that coordinate system is demarcated between multi-vision visual system and robot, is not needed more expensive equipment, is greatly improved the efficiency of calibration.
Description
Technical field
The invention belongs to robots and field of machine vision, and in particular to a kind of coordinate system scaling method, system, computer
Readable storage medium storing program for executing and equipment.
Background technique
Robot is " jewel on manufacturing industry imperial crown ", has a large amount of application in industrial circle, such as welding, stacking, spray
Apply etc., with the complication of application scenarios, machine vision has a large amount of application, quick and easy carry out machine in robot
Coordinate system calibration between people and vision system, can greatly shorten difficulty and the time of debugging.
Existing vision system and robot calibration method, need contact workpiece surface mostly, operation than relatively time-consuming, or
Need equipment costly.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of coordinate system scaling method, be
System, computer readable storage medium and equipment, to solve the disadvantage that take a long time in the prior art.
In order to achieve the above objects and other related objects, the present invention provides a kind of coordinate system scaling method, for mostly visually
Coordinate system is demarcated between feel system and robot, is provided with a point light source on the end of the robot, the point light source is in institute
In the field range for stating multi-vision visual system, the scaling method the following steps are included:
The multi-vision visual system is demarcated；
It identifies and positions the point light source；
Set of coordinates of the point light source in different location is recorded, the set of coordinates includes point light source in visual coordinate system
Coordinate and the coordinate in robot coordinate system；
The visual coordinate system and the robot coordinate are solved according to set of coordinates of the point light source in different location
Transformation matrix between system.
Optionally, the set of coordinates includes at least the first set of coordinates, the second set of coordinates, third set of coordinates and 4-coordinate
Group；First set of coordinates includes that first coordinate of the point light source in visual coordinate system and second in robot coordinate system sit
Mark, second set of coordinates include that third coordinate of the point light source in visual coordinate system and the in robot coordinate system the 4th sit
Mark, the third set of coordinates include that Five Axis of the point light source in visual coordinate system and the in robot coordinate system the 6th sit
Mark, the 4-coordinate group include that seventh coordinate of the point light source in visual coordinate system and the in robot coordinate system the 8th sit
Mark.
Optionally, first coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane.
Optionally, second coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.
Optionally, the multi-vision visual system and the position of the robot are relatively fixed.
In order to achieve the above objects and other related objects, the present invention also provides a kind of coordinate system calibration systems, are used for more mesh
Coordinate system is demarcated between vision system and robot, is provided with a point light source on the end of the robot, the point light source exists
In the field range of the multi-vision visual system, which includes:
Camera calibration module, for being demarcated to the multi-vision visual system；
Locating module for identification and positions the point light source；
First computing module, for recording set of coordinates of the point light source in different location, the set of coordinates includes a little
Coordinate of the light source in visual coordinate system and the coordinate in robot coordinate system；
Second computing module solves the visual coordinate system and institute according to set of coordinates of the point light source in different location
State the transformation matrix between robot coordinate system.
Optionally, the set of coordinates includes at least the first set of coordinates, the second set of coordinates, third set of coordinates and 4-coordinate
Group；First set of coordinates includes that first coordinate of the point light source in visual coordinate system and second in robot coordinate system sit
Mark, second set of coordinates include that third coordinate of the point light source in visual coordinate system and the in robot coordinate system the 4th sit
Mark, the third set of coordinates include that Five Axis of the point light source in visual coordinate system and the in robot coordinate system the 6th sit
Mark, the 4-coordinate group include that seventh coordinate of the point light source in visual coordinate system and the in robot coordinate system the 8th sit
Mark.
Optionally, first coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane；Described
Two coordinates, 4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.
In order to achieve the above objects and other related objects, the present invention also provides a kind of computer readable storage medium, storages
Computer program, which is characterized in that the coordinate system scaling method is executed when the computer program is run by processor.
In order to achieve the above objects and other related objects, the present invention also provides a kind of equipment, comprising:
Memory, for storing computer program；
Processor, for executing the computer program of the memory storage, so that the equipment executes the coordinate
It is scaling method.
As described above, a kind of coordinate system scaling method, system, computer readable storage medium and equipment of the invention, tool
Have following
The utility model has the advantages that
The present invention can simply, quickly realize calibration, not need more expensive equipment, greatly improve the effect of calibration
Rate.
Detailed description of the invention
Fig. 1 is a kind of flow chart of coordinate system scaling method of the present invention；
Fig. 2 is a kind of block diagram of coordinate system calibration system of the present invention.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.
The present invention can also be embodied or applied by other different embodiments, the items in this specification
Without departing from the spirit of the present invention details can also carry out various modifications or alterations based on different viewpoints and application.It needs
Bright, in the absence of conflict, the feature in following embodiment and embodiment can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
As shown in Figure 1, the present invention, which provides the present invention, provides a kind of coordinate system scaling method, it to be used for multi-vision visual system and machine
Coordinate system is demarcated between device people, is provided with a point light source on the end of the robot, the point light source is in the multi-vision visual
In the field range of system, the scaling method the following steps are included:
S1 demarcates the multi-vision visual system；Wherein, multi-vision visual system includes multiple cameras, to multi-vision visual
The calibration of system includes each camera intrinsic parameter in acquisition system, distortion parameter, mutual alignment relation between each camera；
S2 is identified and is positioned the point light source；
S3 records set of coordinates of the point light source in different location, and the set of coordinates includes point light source in visual coordinate system
In coordinate and the coordinate in robot coordinate system；
S4 solves the visual coordinate system according to set of coordinates of the point light source in different location and the robot is sat
Transformation matrix between mark system.
In an embodiment, the set of coordinates includes at least the first set of coordinates, the second set of coordinates, third set of coordinates and the 4th
Set of coordinates；First set of coordinates includes first coordinate of the point light source in visual coordinate system and in robot coordinate system
Two coordinates, second set of coordinates include third coordinate of the point light source in visual coordinate system and in robot coordinate system
4-coordinate, the third set of coordinates include Five Axis of the point light source in visual coordinate system and in robot coordinate system
Six coordinates, the 4-coordinate group include seventh coordinate of the point light source in visual coordinate system and in robot coordinate system
Eight coordinates.
In an embodiment, first coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane.
In an embodiment, second coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.
In an embodiment, the multi-vision visual system and the position of the robot are relatively fixed.
With binocular vision system, the present invention will be described below.
A kind of coordinate system scaling method is demarcated, the binocular vision for coordinate system between binocular vision system and robot
Feel system includes first camera and second camera, a point light source is provided on the end of the robot, the point light source is in institute
State in the field range of binocular vision system, the scaling method the following steps are included:
S11 obtains the intrinsic parameter of first camera, the intrinsic parameter of second camera, the distortion parameter of first camera, second camera
Distortion parameter and first camera and second camera between transformation matrix.
In this present embodiment, the first camera can be defined as left camera, and second camera can be defined as right camera, left
Camera intrinsic parameter isRight camera intrinsic parameter isLeft camera distortion parameter is [kl1,kl2,
pl1,pl2], right camera distortion parameter is [kr1,kr2,pr1,pr2], the transformation matrix between the camera of left and rightGeneral expression is
Wherein, flFor the focal length of left camera, (cxl,cyl) be left camera principal point coordinate；frFor the focal length of right camera, (cxr,
cyr) be right camera principal point coordinate；kl1,kl2For the radial distortion parameter of left camera, pl1,pl2Join for the tangential distortion of left camera
Number；kr1,kr2For the radial distortion parameter of right camera, pr1,pr2For the tangential distortion parameter of right camera；r1-r9Respectively coordinate becomes
Rotational component in changing；t1-t3Translational component respectively in coordinate transform.
S21 is identified and is positioned the point light source；
S31 records set of coordinates of the point light source in different location, and the set of coordinates includes point light source in visual coordinate
Coordinate in system and the coordinate in robot coordinate system；
Specifically, the set of coordinates includes at least the first set of coordinates when point light source is located at first position, positioned at second
The second set of coordinates when setting, positioned at the third place when third set of coordinates and 4-coordinate group when positioned at four positions；It is described
First set of coordinates includes the first coordinate in visual coordinate system and the second coordinate in robot coordinate system, and described second sits
Mark group includes the third coordinate in visual coordinate system and the 4-coordinate in robot coordinate system, the third set of coordinates packet
The Five Axis in visual coordinate system and the 6th coordinate in robot coordinate system are included, the 4-coordinate group is included in view
Feel the 7th coordinate in coordinate system and the 8th coordinate in robot coordinate system.
Wherein, first coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane, and described second
Coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.Due to sitting the first coordinate, third coordinate, the 5th
Mark and the 7th coordinate are in Different Plane, and the second coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are in Different Plane
It is interior, it can make robot end's posture difference bigger in this way, count more, stated accuracy is higher.
More specifically, the coordinate of a certain position of the point light source in visual coordinate system (can be sat for the first coordinate, third
One of coordinate in mark, Five Axis and the 7th coordinate) becvpt=[cvx,cvy,cvz]T, wherein coordinate calculation formula
Such as formula (1):
In formula, []TThe transposition of representing matrix, (Xl,Yl) it is that point light source is sat in left magazine image characteristic point pixel
Mark；(Xr,Yr) it is point light source in right magazine image characteristic point pixel coordinate；cvX indicates the point light source in vision
The coordinate of x-axis in (computer vision) coordinate system,cvY indicates that the point light source is sat at vision (computer vision)
The coordinate of y-axis in mark system,cvZ indicates the coordinate of z-axis of the point light source in vision (computer vision) coordinate system.
In this present embodiment, the coordinate of point light source different location in visual coordinate system can pass through mobile machine
People's tool tip obtains, but when mobile robot, and robot end is always in the field range of binocular vision system, i.e. point
Light source is always in the field range of binocular vision system.
The coordinate of a certain position of the point light source under robot coordinate system (can be sat for the second coordinate, 4-coordinate, the 6th
Be marked with and the 8th coordinate in one of coordinate) berpt=[rx,ry,rz]T；
rX is the coordinate of point light source x-axis in robot coordinate system,rY indicates point light source y-axis in robot coordinate system
Coordinate,rThe coordinate of z expression point light source z-axis in robot coordinate system.
In this present embodiment, the coordinate of point light source different location in robot coordinate system can pass through moving machine
Device people tool tip obtains, but when mobile robot, robot end is always in the field range of binocular vision system.
S41 solves the visual coordinate system according to set of coordinates of the point light source in different location and the robot is sat
Transformation matrix between mark system
In formula
cvx1Indicate the coordinate of point light source x-axis in the first coordinate in vision (computer vision) coordinate system,cvy1Indicate the coordinate of point light source y-axis in the first coordinate in vision (computer vision) coordinate system,cvz1Indicating should
The coordinate of point light source z-axis in the first coordinate in vision (computer vision) coordinate system,cvx2Indicate that the point light source exists
The coordinate of x-axis in third coordinate in vision (computer vision) coordinate system,cvy2Indicate the point light source in vision
The coordinate of y-axis in third coordinate in (computer vision) coordinate system,cvz2Indicate the point light source in vision (computer
Vision) in the third coordinate in coordinate system z-axis coordinate.rx1Indicate second coordinate of the point light source in robot coordinate system
The coordinate of x-axis,ry1Indicate the coordinate of point light source y-axis in the second coordinate in robot coordinate system,rz1Indicate that the point light source exists
In robot coordinate system in the second coordinate z-axis coordinate,rx2Indicate 4-coordinate x-axis of the point light source in robot coordinate system
Coordinate,ry2Indicate the coordinate of point light source y-axis in 4-coordinate in robot coordinate system,rz2Indicate the point light source in machine
In device people's coordinate system in 4-coordinate z-axis coordinate.
As shown in Fig. 2, the present invention also provides a kind of coordinate system calibration system, between multi-vision visual system and robot
Coordinate system is demarcated, and is provided with a point light source, view of the point light source in the multi-vision visual system on the end of the robot
In the range of field, which includes camera calibration module 1, locating module 2, the first computing module 3 and the second computing module 4.
The camera calibration module, for being demarcated to the multi-vision visual system；Wherein, multi-vision visual system includes
Multiple cameras, the calibration to multi-vision visual system include each camera intrinsic parameter in acquisition system, distortion parameter, between each camera
Mutual alignment relation.
The locating module for identification and positions the point light source；
First computing module, for recording set of coordinates of the point light source in different location, the set of coordinates packet
Include coordinate of the point light source in visual coordinate system and the coordinate in robot coordinate system；
Second computing module solves the visual coordinate system according to set of coordinates of the point light source in different location
With the transformation matrix between the robot coordinate system.
In an embodiment, the set of coordinates includes at least the first set of coordinates, the second set of coordinates, third set of coordinates and the 4th
Set of coordinates；First set of coordinates includes first coordinate of the point light source in visual coordinate system and in robot coordinate system
Two coordinates, second set of coordinates include third coordinate of the point light source in visual coordinate system and in robot coordinate system
4-coordinate, the third set of coordinates include Five Axis of the point light source in visual coordinate system and in robot coordinate system
Six coordinates, the 4-coordinate group include seventh coordinate of the point light source in visual coordinate system and in robot coordinate system
Eight coordinates.First coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane；Second coordinate,
4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.
With binocular vision system, the present invention will be described below.
A kind of coordinate system calibration system is demarcated, the binocular vision for coordinate system between binocular vision system and robot
Feel system includes first camera and second camera, a point light source is provided on the end of the robot, the point light source is in institute
It states in the field range of binocular vision system, which includes:
Camera calibration module, for obtaining the distortion of the intrinsic parameter of first camera, the intrinsic parameter of second camera, first camera
Parameter, second camera distortion parameter and first camera and second camera between transformation matrix.
In this present embodiment, the first camera can be defined as left camera, and second camera can be defined as right camera, left
Camera intrinsic parameter isRight camera intrinsic parameter isLeft camera distortion parameter is [kl1,kl2,
pl1,pl2], right camera distortion parameter is [kr1,kr2,pr1,pr2], the transformation matrix between the camera of left and rightc r vT, general expression are
Wherein, flFor the focal length of left camera, (cxl,cyl) be left camera principal point coordinate；frFor the focal length of right camera, (cxr,
cyr) be right camera principal point coordinate；kl1,kl2For the radial distortion parameter of left camera, pl1,pl2Join for the tangential distortion of left camera
Number；kr1,kr2For the radial distortion parameter of right camera, pr1,pr2For the tangential distortion parameter of right camera；r1-r9Respectively coordinate becomes
Rotational component in changing；t1-t3Translational component respectively in coordinate transform.
Locating module for identification and positions the point light source,
First computing module, for recording set of coordinates of the point light source in different location, the set of coordinates includes a little
Coordinate of the light source in visual coordinate system and the coordinate in robot coordinate system；
Specifically, the set of coordinates includes at least the first set of coordinates when point light source is located at first position, positioned at second
The second set of coordinates when setting, positioned at the third place when third set of coordinates and 4-coordinate group when positioned at four positions；It is described
First set of coordinates includes the first coordinate in visual coordinate system and the second coordinate in robot coordinate system, and described second sits
Mark group includes the third coordinate in visual coordinate system and the 4-coordinate in robot coordinate system, the third set of coordinates packet
The Five Axis in visual coordinate system and the 6th coordinate in robot coordinate system are included, the 4-coordinate group is included in view
Feel the 7th coordinate in coordinate system and the 8th coordinate in robot coordinate system.
Wherein, first coordinate, third coordinate, Five Axis and the 7th coordinate are located in Different Plane, and described second
Coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are located in Different Plane.Due to sitting the first coordinate, third coordinate, the 5th
Mark and the 7th coordinate are in Different Plane, and the second coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are in Different Plane
It is interior, it can make robot end's posture difference bigger in this way, count more, stated accuracy is higher.
More specifically, the coordinate of a certain position of the point light source in visual coordinate system (can be sat for the first coordinate, third
One of coordinate in mark, Five Axis and the 7th coordinate) becvpt=[cvx,cvy,cvz]T, wherein coordinate calculation formula
Such as formula (4):
In formula, []TThe transposition of representing matrix, (Xl,Yl) it is that point light source is sat in left magazine image characteristic point pixel
Mark；(Xr,Yr) it is point light source in right magazine image characteristic point pixel coordinate；cvX indicates the point light source in vision
The coordinate of x-axis in (computer vision) coordinate system,cvY indicates that the point light source is sat at vision (computer vision)
The coordinate of y-axis in mark system,cvZ indicates the coordinate of z-axis of the point light source in vision (computer vision) coordinate system.
In this present embodiment, the coordinate of point light source different location in visual coordinate system can pass through mobile machine
People's tool tip obtains, but when mobile robot, and robot end is always in the field range of binocular vision system, i.e. point
Light source is always in the field range of binocular vision system.
The coordinate of a certain position of the point light source under robot coordinate system (can be sat for the second coordinate, 4-coordinate, the 6th
Be marked with and the 8th coordinate in one of coordinate) berpt=[rx,ry,rz]T；
rX is the coordinate of point light source x-axis in robot coordinate system,rY indicates point light source y-axis in robot coordinate system
Coordinate,rThe coordinate of z expression point light source z-axis in robot coordinate system.
In this present embodiment, the coordinate of point light source different location in robot coordinate system can pass through moving machine
Device people tool tip obtains, but when mobile robot, robot end is always in the field range of binocular vision system.
First computing module, for solving the visual coordinate system according to set of coordinates of the point light source in different location
With the transformation matrix between the robot coordinate system
In formula
cvx1Indicate the coordinate of point light source x-axis in the first coordinate in vision (computer vision) coordinate system,cvy1Indicate the coordinate of point light source y-axis in the first coordinate in vision (computer vision) coordinate system,cvz1Indicating should
The coordinate of point light source z-axis in the first coordinate in vision (computer vision) coordinate system,cvx2Indicate that the point light source exists
The coordinate of x-axis in third coordinate in vision (computer vision) coordinate system,cvy2Indicate the point light source in vision
The coordinate of y-axis in third coordinate in (computer vision) coordinate system,cvz2Indicate the point light source in vision (computer
Vision) in the third coordinate in coordinate system z-axis coordinate.rx1Indicate second coordinate of the point light source in robot coordinate system
The coordinate of x-axis,ry1Indicate the coordinate of point light source y-axis in the second coordinate in robot coordinate system,rz1Indicate that the point light source exists
In robot coordinate system in the second coordinate z-axis coordinate,rx2Indicate 4-coordinate x-axis of the point light source in robot coordinate system
Coordinate,ry2Indicate the coordinate of point light source y-axis in 4-coordinate in robot coordinate system,rz2Indicate the point light source in machine
In device people's coordinate system in 4-coordinate z-axis coordinate.
The present invention also provides a kind of computer readable storage mediums, store computer program, and the computer program is located
The coordinate system scaling method is executed when managing device operation.
The present invention also provides a kind of equipment, comprising:
Memory, for storing computer program；
Processor, for executing the computer program of the memory storage, so that the equipment executes the coordinate
It is scaling method.
Above-mentioned processor can be general processor, including central processing unit (Central ProcessingUnit, letter
Claim CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSigna Processing, abbreviation DSP), specific integrated circuit (Application SpecificIntegrated
Circuit, abbreviation ASIC), field programmable gate array (Field-ProgrammableGateArry, abbreviation FPGA) or its
His programmable logic device, discrete gate or transistor logic, discrete hardware components.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of coordinate system scaling method, which is characterized in that demarcated for coordinate system between multi-vision visual system and robot, institute
It states and is provided with a point light source on the end of robot, the point light source is in the field range of the multi-vision visual system, the mark
Determine method the following steps are included:
The multi-vision visual system is demarcated；
It identifies and positions the point light source；
Set of coordinates of the point light source in different location is recorded, the set of coordinates includes seat of the point light source in visual coordinate system
Mark and the coordinate in robot coordinate system；
According to set of coordinates of the point light source in different location solve the visual coordinate system and the robot coordinate system it
Between transformation matrix.
2. a kind of coordinate system scaling method according to claim 1, which is characterized in that the set of coordinates includes at least first
Set of coordinates, the second set of coordinates, third set of coordinates and 4-coordinate group；First set of coordinates includes point light source in visual coordinate system
In the first coordinate and the second coordinate in robot coordinate system, second set of coordinates include point light source in visual coordinate system
In third coordinate and the 4-coordinate in robot coordinate system, the third set of coordinates include point light source in visual coordinate system
In Five Axis and the 6th coordinate in robot coordinate system, the 4-coordinate group include point light source in visual coordinate system
In the 7th coordinate and the 8th coordinate in robot coordinate system.
3. a kind of coordinate system scaling method according to claim 2, which is characterized in that first coordinate, third coordinate,
Five Axis and the 7th coordinate are located in Different Plane.
4. a kind of coordinate system scaling method according to claim 3, which is characterized in that second coordinate, 4-coordinate,
6th coordinate and the 8th coordinate are located in Different Plane.
5. a kind of coordinate system scaling method according to claim 1, which is characterized in that the multi-vision visual system with it is described
The position of robot is relatively fixed.
6. a kind of coordinate system calibration system, which is characterized in that demarcated for coordinate system between multi-vision visual system and robot, institute
It states and is provided with a point light source on the end of robot, the point light source is in the field range of the multi-vision visual system, the mark
Determining system includes:
Camera calibration module, for being demarcated to the multi-vision visual system；
Locating module for identification and positions the point light source；
First computing module, for recording set of coordinates of the point light source in different location, the set of coordinates includes point light source
Coordinate in visual coordinate system and the coordinate in robot coordinate system；
Second computing module solves the visual coordinate system and the machine according to set of coordinates of the point light source in different location
Transformation matrix between device people's coordinate system.
7. a kind of coordinate system calibration system according to claim 6, which is characterized in that the set of coordinates includes at least first
Set of coordinates, the second set of coordinates, third set of coordinates and 4-coordinate group；First set of coordinates includes point light source in visual coordinate system
In the first coordinate and the second coordinate in robot coordinate system, second set of coordinates include point light source in visual coordinate system
In third coordinate and the 4-coordinate in robot coordinate system, the third set of coordinates include point light source in visual coordinate system
In Five Axis and the 6th coordinate in robot coordinate system, the 4-coordinate group include point light source in visual coordinate system
In the 7th coordinate and the 8th coordinate in robot coordinate system.
8. a kind of coordinate system calibration system according to claim 7, which is characterized in that first coordinate, third coordinate,
Five Axis and the 7th coordinate are located in Different Plane；Second coordinate, 4-coordinate, the 6th coordinate and the 8th coordinate are located at
In Different Plane.
9. a kind of computer readable storage medium stores computer program, which is characterized in that the computer program is by processor
Coordinate system scaling method as claimed in any one of claims 1 to 5, wherein is executed when operation.
10. a kind of equipment characterized by comprising
Memory, for storing computer program；
Processor, for executing the computer program of the memory storage, so that the equipment executes such as Claims 1 to 5
Coordinate system scaling method described in any one.
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| PCT/CN2019/107825 WO2020114046A1 (en) | 2018-12-04 | 2019-09-25 | Coordinate system calibration method and system, computer readable storage medium, and device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465944A (en) * | 2019-08-09 | 2019-11-19 | 琦星智能科技股份有限公司 | Calculation method based on the industrial robot coordinate under plane visual |
| WO2020114046A1 (en) * | 2018-12-04 | 2020-06-11 | 中冶赛迪重庆信息技术有限公司 | Coordinate system calibration method and system, computer readable storage medium, and device |
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| CN102135776A (en) * | 2011-01-25 | 2011-07-27 | 解则晓 | Industrial robot control system based on visual positioning and control method thereof |
| CN105157725A (en) * | 2015-07-29 | 2015-12-16 | 华南理工大学 | Hand-eye calibration method employing two-dimension laser vision sensor and robot |
| US20180194007A1 (en) * | 2017-01-12 | 2018-07-12 | Fanuc Corporation | Calibration device, calibration method, and computer readable medium for visual sensor |
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| WO2020114046A1 (en) * | 2018-12-04 | 2020-06-11 | 中冶赛迪重庆信息技术有限公司 | Coordinate system calibration method and system, computer readable storage medium, and device |
| CN110465944A (en) * | 2019-08-09 | 2019-11-19 | 琦星智能科技股份有限公司 | Calculation method based on the industrial robot coordinate under plane visual |
| CN110465944B (en) * | 2019-08-09 | 2021-03-16 | 琦星智能科技股份有限公司 | Method for calculating coordinates of industrial robot based on plane vision |
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