CN111311692B - Visual calibration method of simple robot - Google Patents
Visual calibration method of simple robot Download PDFInfo
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- CN111311692B CN111311692B CN202010148554.1A CN202010148554A CN111311692B CN 111311692 B CN111311692 B CN 111311692B CN 202010148554 A CN202010148554 A CN 202010148554A CN 111311692 B CN111311692 B CN 111311692B
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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
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a visual calibration method of a simple robot, which comprises the following steps: obtaining a calibration template, placing the calibration template on a workpiece to be processed, and marking the calibration template as a position A; the calibration template comprises a square module and a round hole arranged on the module; taking the position A as a reference, moving a round hole of the calibration template around the first model in a clockwise direction, and taking the positions of three points in the moving range to obtain calibration data of the camera; and rotating the round hole of the calibration template around the second model by taking the position A as a reference, and taking the positions of two points in the rotation range to calculate the rotation center of the manipulator. The visual calibration method of the simple robot is simple to operate, has no requirement on a calibration template, obtains the calibration data of the camera by moving the calibration template, obtains the rotation center of the manipulator by rotating the calibration template, and is beneficial to the field application of the visual sense of the robot.
Description
Technical Field
The invention relates to the technical field of visual positioning, in particular to a visual calibration method of a simple robot for a robot visual system.
Background
In the use of a robot vision system, the vision system needs to be calibrated to ensure the detection accuracy of the vision system. The existing visual calibration method is to calibrate by using a calibration plate with a grid or a circular image, the calibration plate needs to be as large as a workpiece, and in the field management of automobile production, the management of the calibration plate and tools is not very convenient; during calibration, certain requirements are set on the position of the calibration plate, and the calibration plate is required to be kept dust-free, so that the accuracy is not influenced.
Disclosure of Invention
Based on this, it is necessary to provide a simple visual calibration method for a robot to solve the above-mentioned conventional problems.
In order to achieve the purpose of the invention, the invention adopts the following technical scheme:
the visual calibration method of the simple robot comprises a manipulator and a camera arranged on the manipulator, and comprises the following steps:
obtaining a calibration template, placing the calibration template on a workpiece to be processed, and marking the calibration template as a position A; the calibration template comprises a square module and a round hole arranged on the module;
taking the position A as a reference, moving a round hole of a calibration template around the first model in a clockwise direction in an imaging view angle of a camera, taking the positions of three points in a moving range, respectively marking the positions as a position B, a position C and a position D, and finally moving back to the position A; obtaining calibration data of the camera according to the data of the position A, the position B, the position C and the position D;
and rotating the round hole of the calibration template around the second model in the imaging view angle of the camera by taking the position A as a reference, taking the positions of two points in the rotation range, respectively marking the positions as a position E and a position F, and calculating the rotation center of the manipulator according to the characteristic point data of the position A, the position E and the position F.
In one embodiment, the external dimension of the calibration template is smaller than the dimension of the workpiece to be processed.
In one embodiment, the center of the circular hole coincides with the center of gravity of the module.
In one embodiment, the first model is square in arrangement.
In one embodiment, the positions a, B, C, D are on four corners of the first model, respectively.
In one embodiment, the center of gravity of the first model coincides with the center of the imaging view angle formed by the camera.
In one embodiment, the second mold is arranged in a circular shape.
In one embodiment, the center of the second model coincides with the center of rotation of the manipulator.
The visual calibration method of the simple robot is simple to operate, has no requirement on a calibration template, obtains the calibration data of the camera by moving the calibration template, obtains the rotation center of the manipulator by rotating the calibration template, and is beneficial to the field application of the visual sense of the robot.
Drawings
FIG. 1 is a schematic diagram of a calibration template according to the present invention;
FIG. 2 is a schematic structural view of a first model of the present invention;
fig. 3 is a schematic structural view of a second model of the present invention.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1 to 3, the invention discloses a visual calibration method for a simple robot, which comprises a manipulator and a camera arranged on the manipulator, wherein the visual calibration method comprises the following steps:
obtaining a calibration template, placing the calibration template on a workpiece to be processed, and marking the calibration template as a position A; the calibration template comprises a square module 10 and a round hole 20 arranged on the module 10;
taking the position A as a reference, moving the round hole 20 of the calibration template around the first model in a clockwise direction in an imaging view angle of the camera, taking the positions of three points in the moving range, respectively marking the positions as a position B, a position C and a position D, and finally moving back to the position A; obtaining calibration data of the camera according to the data of the position A, the position B, the position C and the position D;
and rotating the round hole 20 of the calibration template around the second model in the imaging view angle of the camera by taking the position A as a reference, taking the positions of two points in the rotation range, respectively marking the positions as a position E and a position F, and calculating the rotation center of the manipulator according to the characteristic point data of the position A, the position E and the position F.
Optionally, the external dimension of the calibration template is smaller than the dimension of the workpiece to be processed.
Referring again to fig. 1, the center of the circular aperture 20 coincides with the center of gravity of the module.
Referring again to fig. 2, the first model is substantially square, wherein the positions a, B, C, D are respectively at four corners of the first model. The center of gravity of the first model coincides with the center of the imaging view angle formed by the camera.
Referring to fig. 3, the second model is arranged in a circular shape, and the center of the second model coincides with the rotation center of the manipulator.
The visual calibration method of the simple robot is simple to operate, has no requirement on a calibration template, obtains the calibration data of the camera by moving the calibration template, obtains the rotation center of the manipulator by rotating the calibration template, and is beneficial to the field application of the visual sense of the robot.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (1)
1. The visual calibration method of the simple robot comprises a manipulator and a camera arranged on the manipulator, and is characterized by comprising the following steps of:
obtaining a calibration template, placing the calibration template on a workpiece to be processed, and marking the calibration template as a position A; the calibration template comprises a square module and a round hole arranged on the module;
taking the position A as a reference, moving a round hole of a calibration template around the first model in a clockwise direction in an imaging view angle of a camera, taking the positions of three points in a moving range, respectively marking the positions as a position B, a position C and a position D, and finally moving back to the position A; obtaining calibration data of the camera according to the data of the position A, the position B, the position C and the position D;
rotating a round hole of the calibration template around the second model in an imaging view angle of the camera by taking the position A as a reference, taking the positions of two points in the rotation range, respectively marking the positions as a position E and a position F, and calculating the rotation center of the manipulator according to the characteristic point data of the position A, the position E and the position F;
the external dimension of the calibration template is smaller than the dimension of the workpiece to be processed; the center of the round hole coincides with the gravity center of the module; the first model is square; the position A, the position B, the position C and the position D are respectively arranged at four corners of the first model; the center of gravity of the first model coincides with the center of an imaging visual angle formed by a camera; the second model is arranged in a circular shape; the center of the second model coincides with the rotation center of the manipulator.
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| CN202010148554.1A CN111311692B (en) | 2020-03-05 | 2020-03-05 | Visual calibration method of simple robot |
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| CN202010148554.1A CN111311692B (en) | 2020-03-05 | 2020-03-05 | Visual calibration method of simple robot |
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| CN111311692A CN111311692A (en) | 2020-06-19 |
| CN111311692B true CN111311692B (en) | 2023-08-25 |
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| CN105773661A (en) * | 2016-03-30 | 2016-07-20 | 东莞市速美达自动化有限公司 | Horizontal robot fixed camera lower workpiece translation and rotation calibration method |
| CN106846414A (en) * | 2017-01-24 | 2017-06-13 | 浙江四点灵机器人股份有限公司 | A kind of active vision camera calibration method based on variable spotting |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| CN107942949A (en) * | 2017-03-31 | 2018-04-20 | 沈机（上海）智能系统研发设计有限公司 | A kind of lathe vision positioning method and system, lathe |
| CN109159114A (en) * | 2018-08-16 | 2019-01-08 | 郑州大学 | The accuracy method of SCARA manipulator fixed camera vision system hand and eye calibrating |
| JP2019063970A (en) * | 2017-10-05 | 2019-04-25 | 住友電装株式会社 | Rotary machining device |
| CN110148187A (en) * | 2019-06-04 | 2019-08-20 | 郑州大学 | A kind of the high-precision hand and eye calibrating method and system of SCARA manipulator Eye-in-Hand |
| CN110666798A (en) * | 2019-10-11 | 2020-01-10 | 华中科技大学 | Robot vision calibration method based on perspective transformation model |
-
2020
- 2020-03-05 CN CN202010148554.1A patent/CN111311692B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105773661A (en) * | 2016-03-30 | 2016-07-20 | 东莞市速美达自动化有限公司 | Horizontal robot fixed camera lower workpiece translation and rotation calibration method |
| CN106846414A (en) * | 2017-01-24 | 2017-06-13 | 浙江四点灵机器人股份有限公司 | A kind of active vision camera calibration method based on variable spotting |
| CN107942949A (en) * | 2017-03-31 | 2018-04-20 | 沈机（上海）智能系统研发设计有限公司 | A kind of lathe vision positioning method and system, lathe |
| CN107363823A (en) * | 2017-06-21 | 2017-11-21 | 深圳市恒科通机器人有限公司 | The coordinate scaling method of mechanical arm |
| JP2019063970A (en) * | 2017-10-05 | 2019-04-25 | 住友電装株式会社 | Rotary machining device |
| CN109159114A (en) * | 2018-08-16 | 2019-01-08 | 郑州大学 | The accuracy method of SCARA manipulator fixed camera vision system hand and eye calibrating |
| CN110148187A (en) * | 2019-06-04 | 2019-08-20 | 郑州大学 | A kind of the high-precision hand and eye calibrating method and system of SCARA manipulator Eye-in-Hand |
| CN110666798A (en) * | 2019-10-11 | 2020-01-10 | 华中科技大学 | Robot vision calibration method based on perspective transformation model |
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