CN111127565A - Calibration method, calibration system, and computer-readable storage medium - Google Patents
Calibration method, calibration system, and computer-readable storage medium Download PDFInfo
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- CN111127565A CN111127565A CN201911350631.5A CN201911350631A CN111127565A CN 111127565 A CN111127565 A CN 111127565A CN 201911350631 A CN201911350631 A CN 201911350631A CN 111127565 A CN111127565 A CN 111127565A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The application provides a calibration method, which comprises the following steps: adjusting a horizontal rotation angle and an inclined rotation angle of a calibration plate and recording each horizontal rotation angle information and each inclined rotation angle information, wherein the calibration plate comprises a spherical calibration object; acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles; determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and determining the fitting relation between the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle according to the recorded horizontal rotation angle information and inclination rotation angle information and the position information of the corresponding characteristic points. Through the mode, the efficiency of the calibration execution flow is improved, the manual operation error is reduced, the horizontal teaching inclined dispensing is convenient, and the experience of production field operation is improved.
Description
Technical Field
The present application relates to the field of sensor calibration technologies, and in particular, to a calibration method, a calibration system, and a computer-readable storage medium.
Background
At present, the requirement on the dispensing process is higher and higher, and particularly, the process requirement on the space dispensing is more and more obvious when the curved screen of the mobile phone is popularized and applied. Related application of partial space dispensing exists in the market at present, and the calibration is mainly carried out by adopting a checkerboard, namely, the calibration is carried out by adopting the checkerboard and a camera (in the Z direction). The prior art has the main defects that 1) large-angle calibration cannot be carried out, because when the inclined axis has a large angle, a camera cannot clearly image); 2) when the inclined axis has a small angle, the imaging of the camera has the phenomena of distortion, stretching and the like, so that the calibration precision is insufficient; 3) the assembly precision of the machine table is high; 4) the horizontal teaching can not be achieved, and the dispensing process can be carried out at any inclination angle.
Disclosure of Invention
The main purpose of the present application is to provide a calibration method, a calibration system, and a computer-readable storage medium, which are used to improve the efficiency of the calibration execution process, reduce human operation errors, facilitate horizontal teaching oblique dispensing, and improve the experience of production field operations.
To achieve the above object, the present application provides a calibration method, including: adjusting a horizontal rotation angle and an inclined rotation angle of a calibration plate and recording each horizontal rotation angle information and each inclined rotation angle information, wherein the calibration plate comprises a spherical calibration object; acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles; determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and determining the fitting relation between the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle according to the recorded horizontal rotation angle information and inclination rotation angle information and the position information of the corresponding characteristic points.
Optionally, the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and each piece of tilt rotation angle information includes: determining at least one first tilt rotation angle; controlling to adjust the horizontal rotation angle of the calibration plate at preset angle intervals; and recording the inclination rotation angle information of the at least one first inclination rotation angle and the horizontal rotation angle information adjusted at preset angle intervals.
Optionally, before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: and horizontally calibrating the rotating platform to enable the rotating platform to be in a basically horizontal position, wherein the rotating platform is used for assembling the calibration plate.
Optionally, before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: acquiring corresponding calibration position information of the same mark point of the rotary platform under different horizontal rotation angles; and when the plurality of pieces of calibration position information meet the precision threshold, determining that the equipment assembly error for implementing the calibration method meets the assembly requirement.
Optionally, after the step of calibrating the rotating platform horizontally, the method further includes: and calibrating the horizontal rotation center and the inclined rotation center of the rotating platform.
Optionally, the position information of the feature point in the measurement image is the sphere center position information of the spherical calibration object in the measurement image.
Optionally, the calibration plate includes a substrate and a plurality of spherical calibrators, and the plurality of spherical calibrators are respectively located on two symmetrical sides of the same surface of the substrate.
Optionally, the spherical calibration object includes a support rod and a sphere, one end of the support rod is connected to the base plate, and the other end of the support rod is connected to the sphere.
The application further provides a calibration system, which comprises a control device, a rotating platform, a calibration plate and an image acquisition device, wherein the calibration plate is assembled on the rotating platform, the control device is used for controlling the rotating platform to rotate so as to adjust the horizontal rotation angle and the inclined rotation angle of the calibration plate and record the information of each horizontal rotation angle and each inclined rotation angle, and the calibration plate comprises a spherical calibration object; the image acquisition device is used for acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles; the control device is further used for determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and determining the fitting relation between the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle according to the recorded horizontal rotation angle information and inclination rotation angle information and the position information of the corresponding characteristic points.
The present application further provides a computer-readable storage medium, having a program stored thereon, where the program, when executed by a processor, implements any of the calibration methods described above
The calibration method, the calibration system and the computer readable storage medium provided by the application can acquire the measurement images of the calibration plate at different horizontal rotation angles and corresponding inclination rotation angles by continuously adjusting the horizontal rotation angle and the inclination rotation angle of the calibration plate, and simultaneously acquire the position information of the feature points in the measurement images, wherein the feature points are the images of the spherical calibration objects on the calibration plate in the measurement images. Meanwhile, the corresponding relation of the multiple groups of acquired horizontal rotation angle information, the inclination rotation angle and the position information of the characteristic points is fitted to obtain the fitting relation of the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle, so that the rotary platform is only required to be ensured to be in a horizontal state when the dispensing track is taught.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Fig. 1 is a flowchart of a calibration method according to an embodiment of the present application;
FIG. 2A is a front view of a calibration plate according to one embodiment;
FIG. 2B is a top view of the calibration plate provided in FIG. 2A;
FIG. 2C is a left side view of the calibration plate provided in FIG. 2A;
fig. 3 is a flowchart of a calibration method according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a calibration system according to an embodiment.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 is a flowchart of a calibration method provided in an embodiment of the present application, where once the method of the embodiment is triggered by a user, a process in the embodiment is executed automatically by a calibration system or according to manual operation of an operator, where each step may be executed sequentially according to an order in the flowchart, or multiple steps may be executed simultaneously according to an actual situation, which is not limited herein. The calibration method provided by the application comprises the following steps:
step S110, adjusting a horizontal rotation angle and an inclined rotation angle of a calibration plate and recording each horizontal rotation angle information and each inclined rotation angle information, wherein the calibration plate comprises a spherical calibration object;
step S120, acquiring measurement images of the calibration plate at different horizontal rotation angles and inclined rotation angles;
step S130, determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image;
step S140, determining the fitting relationship between the position information of the feature point and the horizontal rotation angle and the tilt rotation angle according to the recorded horizontal rotation angle information and tilt rotation angle information and the position information of the corresponding feature point.
Through the embodiment, when the image acquisition device shoots the image of the calibration plate, the shape of the specific point in the measured image can be ensured to be circular at all times, namely, the phenomenon that the inclination angle of the characteristic point is distorted or stretched in the existing checkerboard mode is avoided. Meanwhile, the corresponding relation of the multiple groups of acquired horizontal rotation angle information, the inclination rotation angle and the position information of the characteristic points is fitted to obtain the fitting relation of the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle, so that the rotary platform is only required to be ensured to be in a horizontal state when the dispensing track is taught.
The above steps will be described in more detail below.
In step S110, a horizontal rotation angle and an oblique rotation angle of a calibration plate including a spherical calibration object are adjusted and each horizontal rotation angle information and each oblique rotation angle information is recorded.
Specifically, in the calibration system, the calibration system includes a machine, an image acquisition device, a rotation platform, and a calibration plate. The image acquisition device is assembled on the machine. In this embodiment, a back plate is disposed on the machine platform, the image capturing device is disposed on the back plate, and the calibration plate is mounted on the surface of the rotating platform. In this embodiment, the rotary platform is a five-axis rotary platform, and the calibration system drives the calibration plate to rotate in the horizontal rotation direction and the oblique rotation direction by controlling the rotary platform to rotate.
In an alternative embodiment, the image capturing device includes a camera and a lens, and an image of the calibration plate can be captured through the camera and the lens to perform the calculation related to the calibration method provided in the present application. In this embodiment, the lens is a telecentric lens, and the camera is a plane camera, so that the object in the acquired image is prevented from generating a perspective effect of small and large distances, so as to make the target image data more accurate.
In an optional embodiment, the calibration system further includes a point laser, the point laser is assembled on a surface of a back plate of the machine, and the point laser is used for performing a preliminary calibration on a component of the calibration system to assist in installing the component of the calibration system within an error range.
In an optional embodiment, the calibration system further includes a light source, and the light source is assembled on the surface of the back plate of the machine, and is used for providing an illumination condition for the image acquisition device to shoot the image of the calibration plate, so as to ensure the definition of the image.
In an optional embodiment, the calibration system further includes an air valve, and the air valve is assembled on the surface of the back plate of the machine, and is used for driving the image acquisition device, the point laser, the light source, and the rotating platform to rotate according to a control command of the calibration system.
In an alternative embodiment, the calibration plate includes a substrate and a plurality of spherical calibrators, and the spherical calibrators are respectively located on two symmetrical sides of the same surface of the substrate. In the present embodiment, the substrate has a rectangular parallelepiped plate-like structure, and in other embodiments, the substrate may have a square plate-like structure or a column-like structure, depending on actual requirements. The base plate comprises a first surface and a second surface, the first surface of the base plate is assembled on the surface of the rotating platform, and the second surface of the base plate is used for being connected with the plurality of spherical calibration objects. In this embodiment, the second surface of the substrate includes an assembly region and a positioning region, and the positioning region is located on two symmetrical sides of the assembly region. The assembling area is used for assembling the object to be glued, and the positioning area is used for configuring the spherical calibration object. As shown in fig. 2A to 2C, in the present embodiment, the number of the plurality of spherical markers is 8, and 4 spherical markers are provided in each of the positioning regions on both sides. In other embodiments, the number of the plurality of spherical markers may be 6 or other numbers configured according to actual needs. In this embodiment, the spherical calibration object includes a support rod and a sphere, one end of the support rod is connected to the base plate, and the other end of the support rod is connected to the sphere. In the present embodiment, the heights of the supporting rods of the plurality of spherical markers are different, for example, the number of the plurality of spherical markers is 8, and the plurality of spherical markers includes 4 first spherical markers and 4 second spherical markers, wherein the height of the supporting rod of the first spherical marker is higher than the height of the supporting rod of the second spherical marker. In this embodiment, the first spherical calibration objects are disposed on the outer side of the substrate, and the second spherical calibration objects are disposed on the inner side of the substrate, for example, with one calibration area, two first spherical calibration objects are disposed on one side of the calibration area away from the assembly area, and two second spherical calibration objects are disposed on one side of the calibration area close to the assembly area.
In step S110, the calibration system controls the rotation platform to rotate at different horizontal rotation angles and different oblique rotation angles to adjust the horizontal rotation angle and the oblique rotation angle of the calibration plate assembled on the rotation platform, for example, the calibration system can control the rotation platform to drive the calibration plate to horizontally rotate 30 ° on the horizontal plane, and simultaneously, control the rotation platform to drive the calibration plate to obliquely rotate 60 ° on the oblique plane, so as to control the calibration plate to rotate at any position of 0 to 360 degrees in the horizontal rotation direction and-90 to 90 degrees in the oblique direction. In this step, every time the calibration board is controlled to stop at a certain specific position, it is necessary to record the rotation angle information of the calibration board at that time, for example, when the calibration board is controlled to stop at positions of 30 ° for horizontal rotation and 60 ° for oblique rotation, the current horizontal rotation angle information and oblique rotation angle information are recorded.
In the present embodiment, as shown in fig. 3, step S110 may be performed by:
step S1101 of determining at least one first tilt rotation angle;
step S1102, controlling to adjust the horizontal rotation angle of the calibration plate at preset angle intervals;
step S1103, recording the tilt rotation angle information of the at least one first tilt rotation angle, and the horizontal rotation angle information adjusted at preset angle intervals.
Specifically, in order to obtain the rotation angle information of the calibration plate in different spatial orientations and the measurement images of the calibration plate in different spatial orientations, the calibration plate needs to be controlled to perform regular rotation adjustment. The calibration plate is controlled to be fixed and stopped at the first inclination rotation angle, for example, the calibration plate is controlled to be stopped at the 45-degree inclination rotation angle in advance. And then controlling the calibration plate to adjust the horizontal rotation angle of the calibration plate at preset angle intervals, for example, calibration can be performed at intervals of 60 degrees, so that the calibration of the calibration plate in the horizontal rotation direction can be completed when the inclination angle is 45 degrees only by 7 (0,60, 120.). Every time the calibration plate is calibrated at one angle, it is necessary to record the tilt rotation angle information of at least one first tilt rotation angle, and each horizontal rotation angle information adjusted at preset angle intervals, for example, (horizontal rotation angle 0 degrees, tilt rotation angle 45), (horizontal rotation angle 60 degrees, tilt rotation angle 45).
In step S120, measurement images of the calibration plate at different horizontal rotation angles and tilt rotation angles are acquired.
Specifically, the measurement image is an image obtained by the calibration system by shooting the calibration plate through the image obtaining device. In a specific implementation, when the calibration board is controlled to stay at an angle through step S110, the image obtaining device is controlled to shoot the calibration board to obtain a measurement image.
In step S130, position information of feature points in the measurement image corresponding to different horizontal rotation angles and different tilt rotation angles is determined, where the feature points are spherical calibration object images in the measurement image.
Specifically, a standard image of the feature point is saved in advance, and when the measurement image is acquired, the feature point in the measurement image is determined by performing image comparison. In the present embodiment, the feature points are spherical calibration objects on the calibration plate, and since the calibration objects are spherical, no matter where the calibration plate is rotated, the image capturing device is opposite to the front of the calibration object, that is, the feature points in the measurement images captured by the image capturing device from various angles are all circular in shape. By the method, the calibration error caused by deformation generated by shooting can be effectively avoided.
In the present embodiment, the position information of the feature point in the measurement image is the position information of the feature point in the measurement image, and the position information of the center of the sphere of the spherical calibration object in the measurement image is the position information of the center of the sphere. The calibration system determines the position information of the feature points by predetermining an image coordinate system, a camera coordinate system and a world coordinate system.
In the present embodiment, the position information of the feature point is the position information of the feature point in the measurement image constituted by all the spherical calibration objects on the calibration plate. For example, as shown in fig. 2, the calibration board includes 8 spherical calibration objects, and then the position information of the feature point includes position information of the 8 spherical calibration objects in the measurement image, which are respectively position information of 4 high bits and position information of 4 low bits.
After the measurement images of the calibration board at different positions are acquired through steps S110 and S120, the position information of the feature points in these measurement images is acquired separately for saving. For example, when the horizontal rotation angle is 10 degrees and the tilt rotation angle is 20 degrees, position information data of 8 spherical feature points is recorded, and by analogy, position information of 0-360 degrees in the horizontal rotation direction and position information of 8 spherical feature points different from that of the tilt direction of-90 degrees are obtained.
In step S140, the fitting relationship between the position information of the feature point and the horizontal rotation angle and the tilt rotation angle is determined based on the recorded horizontal rotation angle information and tilt rotation angle information and the position information of the corresponding feature point.
Specifically, the acquired different horizontal rotation angles and inclination rotation angles and the corresponding position information data of the feature points are subjected to data fitting processing to obtain the fitting relation between the position information of the feature points and the horizontal rotation angles and the inclination rotation angles. That is, when a fixed horizontal position point is given, the positions of the feature points at a fixed horizontal angle and a fixed inclination angle can be calculated through the fitting relationship. For example, the fixed point (100,200,300,0,10) taught horizontally (the angle of the direction of the tilt axis is 0) can be calculated to be the true coordinate value (X, Y, Z,60,30) of the current coordinate system after being rotated horizontally by 30 degrees and rotated obliquely by 60 degrees. Through the above embodiment, when the dispensing track is taught, only the rotary platform needs to be horizontal.
Through the embodiment, the efficiency of the calibration execution flow can be improved, the manual operation error is reduced, the horizontal teaching inclined dispensing is convenient, and the experience of production field operation is improved.
In an optional embodiment, step S110 further includes: and horizontally calibrating the rotating platform to enable the rotating platform to be in a basically horizontal position, wherein the rotating platform is used for assembling the calibration plate. Specifically, the calibration system performs horizontal calibration on the rotating platform through the point laser, so that the image acquisition device can perform horizontal imaging.
In an optional embodiment, step S110 further includes:
step A: acquiring corresponding calibration position information of the same mark point of the rotary platform under different horizontal rotation angles;
and B: and when the plurality of pieces of calibration position information meet the precision threshold, determining that the equipment assembly error for implementing the calibration method meets the assembly requirement.
Specifically, the height of the same point on the rotary platform under different horizontal rotation angles (0-360) is tested, the approximate precision of the whole rotary mechanism and the Z-axis direction is verified, and the large installation error is avoided, so that the calibration result is not accurate enough.
In an optional embodiment, after step S110, the method further includes: and calibrating the horizontal rotation center and the inclined rotation center of the rotating platform. For subsequent calculation after horizontal rotation or tilt rotation of the platform.
Fig. 4 is a calibration system 100 according to an embodiment of the present application, where the calibration system 100 includes a control device, a rotating platform, a calibration plate, and an image capturing device, and the calibration plate is assembled on the rotating platform.
The control device is used for controlling the rotating platform to rotate so as to adjust the horizontal rotating angle and the inclined rotating angle of the calibration plate and record each piece of horizontal rotating angle information and each piece of inclined rotating angle information, wherein the calibration plate comprises a spherical calibration object;
the image acquisition device is used for acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles;
the control device is further used for determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and determining the fitting relation of the rotation angle and the position information of the characteristic points according to the recorded horizontal rotation angle information and the recorded inclined rotation angle information and the corresponding position information of the characteristic points.
Specifically, in the calibration system 100, the calibration system 100 includes a machine table, an image capturing device, a rotating platform, and a calibration plate. The image acquisition device is assembled on the machine. In this embodiment, a back plate is disposed on the machine platform, the image capturing device is disposed on the back plate, and the calibration plate is mounted on the surface of the rotating platform. In the present embodiment, the rotary platform is a five-axis rotary platform, and the calibration system 100 controls the rotary platform to rotate to drive the calibration plate to rotate in the horizontal rotation direction and the oblique rotation direction.
In an alternative embodiment, the image capturing device includes a camera and a lens, and an image of the calibration plate can be captured through the camera and the lens to perform the calculation related to the calibration method provided in the present application. In this embodiment, the lens is a telecentric lens, and the camera is a plane camera, so that the object in the acquired image is prevented from generating a perspective effect of small and large distances, so as to make the target image data more accurate.
In an optional embodiment, the calibration system 100 further includes a point laser, the point laser is assembled on a surface of a back plate of the machine, and the point laser is used for performing a preliminary calibration on the components of the calibration system 100 to assist the installation of the components of the calibration system 100 in an error range.
In an optional embodiment, the calibration system 100 further includes a light source, which is assembled on a surface of a back plate of the machine, and is configured to provide a lighting condition for the image acquisition device to capture an image of the calibration plate, so as to ensure the definition of the image.
In an optional embodiment, the calibration system 100 further includes an air valve, which is assembled on a surface of a back plate of the machine, and is used for driving the image capturing device, the point laser, the light source, and the rotating platform to rotate according to a control command of the calibration system 100.
In an alternative embodiment, the calibration plate includes a substrate and a plurality of spherical calibrators, and the spherical calibrators are respectively located on two symmetrical sides of the same surface of the substrate. In the present embodiment, the substrate has a rectangular parallelepiped plate-like structure, and in other embodiments, the substrate may have a square plate-like structure or a column-like structure, depending on actual requirements. The base plate comprises a first surface and a second surface, the first surface of the base plate is assembled on the surface of the rotating platform, and the second surface of the base plate is used for being connected with the plurality of spherical calibration objects. In this embodiment, the second surface of the substrate includes an assembly region and a positioning region, and the positioning region is located on two symmetrical sides of the assembly region. The assembling area is used for assembling the object to be glued, and the positioning area is used for configuring the spherical calibration object. As shown in fig. 2, in the present embodiment, the number of the plurality of spherical markers is 8, and 4 spherical markers are provided in each of the positioning regions on both sides. In other embodiments, the number of the plurality of spherical markers may be 6 or other numbers configured according to actual needs. In this embodiment, the spherical calibration object includes a support rod and a sphere, one end of the support rod is connected to the base plate, and the other end of the support rod is connected to the sphere. In the present embodiment, the heights of the supporting rods of the plurality of spherical markers are different, for example, the number of the plurality of spherical markers is 8, and the plurality of spherical markers includes 4 first spherical markers and 4 second spherical markers, wherein the height of the supporting rod of the first spherical marker is higher than the height of the supporting rod of the second spherical marker. In this embodiment, the first spherical calibration objects are disposed on the outer side of the substrate, and the second spherical calibration objects are disposed on the inner side of the substrate, for example, with one calibration area, two first spherical calibration objects are disposed on one side of the calibration area away from the assembly area, and two second spherical calibration objects are disposed on one side of the calibration area close to the assembly area.
Optionally, the adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and each piece of tilt rotation angle information includes: determining at least one first tilt rotation angle; controlling to adjust the horizontal rotation angle of the calibration plate at preset angle intervals; and recording the inclination rotation angle information of the at least one first inclination rotation angle and the horizontal rotation angle information adjusted at preset angle intervals.
Optionally, before the adjusting the horizontal rotation angle and the tilt rotation angle of the calibration board and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: and horizontally calibrating the rotating platform to enable the rotating platform to be in a basically horizontal position, wherein the rotating platform is used for assembling the calibration plate.
Optionally, before the adjusting the horizontal rotation angle and the tilt rotation angle of the calibration board and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: acquiring corresponding calibration position information of the same mark point of the rotary platform under different horizontal rotation angles; and when the plurality of pieces of calibration position information meet the precision threshold, determining that the equipment assembly error for implementing the calibration method meets the assembly requirement.
Optionally, after the horizontal calibration of the rotating platform, the method further includes: and calibrating the horizontal rotation center and the inclined rotation center of the rotating platform.
Optionally, the position information of the feature point in the measurement image is the sphere center position information of the spherical calibration object in the measurement image.
It should be noted that various technical features in the above embodiments related to the calibration method are still applicable to the implementation of the calibration system 100, and therefore, are not described herein again.
Through the embodiment, the efficiency of the calibration execution flow can be improved, the manual operation error is reduced, the horizontal teaching inclined dispensing is convenient, and the experience of production field operation is improved.
An embodiment of the present application further provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the program implements the following steps: adjusting a horizontal rotation angle and an inclined rotation angle of a calibration plate and recording each horizontal rotation angle information and each inclined rotation angle information, wherein the calibration plate comprises a spherical calibration object; acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles; determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and determining the fitting relation between the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle according to the recorded horizontal rotation angle information and inclination rotation angle information and the position information of the corresponding characteristic points.
Optionally, the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and each piece of tilt rotation angle information includes: determining at least one first tilt rotation angle; controlling to adjust the horizontal rotation angle of the calibration plate at preset angle intervals; and recording the inclination rotation angle information of the at least one first inclination rotation angle and the horizontal rotation angle information adjusted at preset angle intervals.
Optionally, before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: and horizontally calibrating the rotating platform to enable the rotating platform to be in a basically horizontal position, wherein the rotating platform is used for assembling the calibration plate.
Optionally, before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each piece of horizontal rotation angle information and tilt rotation angle information, the method further includes: acquiring corresponding calibration position information of the same mark point of the rotary platform under different horizontal rotation angles; and when the plurality of pieces of calibration position information meet the precision threshold, determining that the equipment assembly error for implementing the calibration method meets the assembly requirement.
Optionally, after the step of calibrating the rotating platform horizontally, the method further includes: and calibrating the horizontal rotation center and the inclined rotation center of the rotating platform.
Optionally, the position information of the feature point in the measurement image is the sphere center position information of the spherical calibration object in the measurement image.
Optionally, the calibration plate includes a substrate and a plurality of spherical calibrators, and the plurality of spherical calibrators are respectively located on two symmetrical sides of the same surface of the substrate.
Optionally, the spherical calibration object includes a support rod and a sphere, one end of the support rod is connected to the base plate, and the other end of the support rod is connected to the sphere.
It should be noted that various technical features in the above embodiments related to the calibration method are still applicable to the implementation of the computer-readable storage medium, and therefore, no further description is given here.
Through the embodiment, the efficiency of the calibration execution flow can be improved, the manual operation error is reduced, the horizontal teaching inclined dispensing is convenient, and the experience of production field operation is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. A calibration method, characterized in that the method comprises:
adjusting a horizontal rotation angle and an inclined rotation angle of a calibration plate and recording each horizontal rotation angle information and each inclined rotation angle information, wherein the calibration plate comprises a spherical calibration object;
acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles;
determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image;
and determining the fitting relation between the position information of the characteristic points and the horizontal rotation angle and the inclination rotation angle according to the recorded horizontal rotation angle information and inclination rotation angle information and the position information of the corresponding characteristic points.
2. The calibration method as claimed in claim 1, wherein the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each of the horizontal rotation angle information and the tilt rotation angle information comprises:
determining at least one first tilt rotation angle;
controlling to adjust the horizontal rotation angle of the calibration plate at preset angle intervals;
and recording the inclination rotation angle information of the at least one first inclination rotation angle and the horizontal rotation angle information adjusted at preset angle intervals.
3. The calibration method according to claim 1, wherein before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each of the horizontal rotation angle information and the tilt rotation angle information, the calibration method further comprises:
and horizontally calibrating the rotating platform to enable the rotating platform to be in a basically horizontal position, wherein the rotating platform is used for assembling the calibration plate.
4. The calibration method according to claim 1, wherein before the step of adjusting the horizontal rotation angle and the tilt rotation angle of the calibration plate and recording each of the horizontal rotation angle information and the tilt rotation angle information, the calibration method further comprises:
acquiring corresponding calibration position information of the same mark point of the rotary platform under different horizontal rotation angles;
and when the plurality of pieces of calibration position information meet the precision threshold, determining that the equipment assembly error for implementing the calibration method meets the assembly requirement.
5. The calibration method of claim 3, wherein after the step of calibrating the rotating platform horizontally, the method further comprises: and calibrating the horizontal rotation center and the inclined rotation center of the rotating platform.
6. The calibration method according to claim 1, wherein the position information of the feature point in the measurement image is the center position information of the spherical calibration object in the measurement image.
7. The calibration method as claimed in claim 1, wherein the calibration plate comprises a substrate and a plurality of spherical calibrators, and the plurality of spherical calibrators are respectively located on two symmetrical sides of the same surface of the substrate.
8. The calibration method as claimed in claim 7, wherein the spherical calibration object comprises a support rod and a sphere, one end of the support rod is connected to the base plate, and the other end of the support rod is connected to the sphere.
9. Calibration system, characterized in that it comprises a control device, a rotating platform, a calibration plate assembled to the rotating platform, and an image acquisition device, wherein,
the control device is used for controlling the rotating platform to rotate so as to adjust the horizontal rotating angle and the inclined rotating angle of the calibration plate and record each piece of horizontal rotating angle information and each piece of inclined rotating angle information, wherein the calibration plate comprises a spherical calibration object;
the image acquisition device is used for acquiring measurement images of the calibration plate at different horizontal rotation angles and different inclined rotation angles;
the control device is further used for determining position information of feature points in the measurement image corresponding to different horizontal rotation angles and different inclined rotation angles, wherein the feature points are spherical calibration object images in the measurement image; and according to the recorded horizontal rotation angle information and the recorded oblique rotation angle information and the fitting relation between the position information of the position information characteristic points of the corresponding characteristic points and the horizontal rotation angle and the oblique rotation angle.
10. A computer-readable storage medium having a program stored thereon, which when executed by a processor, implements a calibration method according to any one of claims 1 to 8.
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