CN111583346A - Camera calibration system based on robot sweeping field - Google Patents
Camera calibration system based on robot sweeping field Download PDFInfo
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- CN111583346A CN111583346A CN202010640601.4A CN202010640601A CN111583346A CN 111583346 A CN111583346 A CN 111583346A CN 202010640601 A CN202010640601 A CN 202010640601A CN 111583346 A CN111583346 A CN 111583346A
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- 230000033001 locomotion Effects 0.000 claims description 47
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- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
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- G06T7/20—Analysis of motion
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Abstract
The invention discloses a camera calibration system based on robot sweeping, which comprises: the mobile robot is used for moving in the calibration field according to a preset sweeping path and sending an actual moving path to the path control terminal, and an optical calibration device is installed on the mobile robot; the path control terminal is used for sending a path change instruction to the mobile robot and sending a camera closing instruction to the camera server when the actual moving path does not meet the preset requirement; the camera system comprises a plurality of optical dynamic capturing cameras, a camera server and a camera module, wherein the optical dynamic capturing cameras are used for acquiring the moving images of the optical calibration devices and sending the moving images to the camera server; the camera server is used for sending the camera closing instruction to the camera system and sending the moving image to the data processing terminal; and the data processing terminal is used for calibrating the optical dynamic camera according to the moving image. The camera calibration method solves the technical problems of low efficiency and low calibration precision of the existing camera calibration mode.
Description
Technical Field
The invention relates to the technical field of motion capture, in particular to a camera calibration system based on a robot sweeping field.
Background
Optical motion tracking techniques are widely used with their relatively high spatial accuracy (up to sub-millimeter levels). In an optical motion tracking system, a tracking field needs to be swept first, and a plurality of cameras in the field are calibrated to determine parameters and relative poses of all the cameras in a three-dimensional scene.
When calibrating multiple cameras, the prior art method generally uses a calibration rod for calibration. The calibration rod has affixed to it a plurality of light-reflecting spheres whose relative spatial positions have been measured by a higher precision instrument such as a laser tracker or a triple gauge. After a camera in the tracking field is started, noise caused by objects in a three-dimensional scene, such as luminous or reflective metal materials, is removed, a user swings a calibration rod in the tracking field, so that the motion trail of the reflective ball is dispersed in the tracking field as much as possible, and the motion trail of the reflective ball is prevented from being too concentrated. During the swinging of the calibration rod, the cameras emit infrared light to collect pictures of the reflective balls, the multiple cameras shoot the pictures constructed by the same reflective ball at different angles, the positions of the reflective balls in the three-dimensional space are obtained according to the multi-view geometric principle, and parameters and relative poses of the multiple cameras in the three-dimensional space can be calculated.
The mode of demarcating the camera in the three-dimensional scene by the user swinging the demarcating rod is not only low in efficiency, but also easily causes the motion trail of the reflective ball to be too concentrated when the user swings the demarcating rod due to the high randomness of the user action, thereby causing the low precision of the camera demarcating.
Disclosure of Invention
The invention mainly aims to provide a camera calibration system based on a robot sweeping field, and aims to solve the technical problems of low efficiency and low calibration precision of the existing camera calibration mode.
The invention provides a camera calibration system based on a robot sweeping field, which comprises a mobile robot, a path control terminal, a camera system, a camera server and a data processing terminal, wherein:
the mobile robot is used for moving in a calibration field according to a preset sweeping path and sending an actual moving path to a path control terminal, an optical calibration device is installed on the mobile robot, and the optical calibration device comprises:
the rigid body base is fixedly connected with the mobile robot and is provided with a mounting plane;
the fixing rods and the mounting plane are arranged at included angles, and the end parts, adjacent to the rigid body base, of the fixing rods are fixed to the mounting plane;
the number of the light reflecting balls is the same as that of the fixing rods, and the distance between the centers of any two light reflecting balls is different from each other;
the path control terminal is in communication connection with the mobile robot and the camera server and is used for sending a path change instruction to the mobile robot and sending a camera closing instruction to the camera server when the actual moving path does not meet the preset requirement;
the camera system comprises a plurality of optical dynamic capture cameras and is used for acquiring the motion images of the optical calibration device and sending the motion images to the camera server;
the camera server is used for sending the camera closing instruction to the camera system when receiving the camera closing instruction, and the camera server is also used for sending the received moving image to the data processing terminal;
and the data processing terminal is used for calibrating the optical dynamic capturing camera according to the moving image.
Optionally, the mobile robot includes an environmental data collection device, a wireless transmission device, a sweep path generation device, and a robot driving device, the environmental data collection device, the wireless transmission device, the sweep path generation device, and the robot driving device are sequentially connected in communication, and the robot driving device is connected in communication with the path control terminal.
Optionally, the environment data acquisition device is configured to acquire environment data of the calibration site and send the environment data to the wireless transmission device;
the wireless transmission device is used for receiving the environment data and sending the environment data to the sweeping path generating device;
the sweeping path generating device is used for generating the actual moving path according to the environment data and sending the actual moving path to the robot driving device and the path control terminal;
the robot driving device is used for driving the mobile robot to move in the calibration field according to the actual moving path, and is also used for receiving a path changing instruction sent by the path control terminal and driving the mobile robot to move in the calibration field according to the changed path according to the path changing instruction.
Optionally, the mobile robot is further provided with a translational degree of freedom component and/or a rotational degree of freedom component, and an end effector, and the end effector is disposed on the translational degree of freedom component and/or the rotational degree of freedom component.
Optionally, the optical calibration device is fixedly connected to the end effector, the translational degree of freedom component and/or the rotational degree of freedom component are used to adjust the height and/or the rotational angle of the end effector, and the end effector is used to drive and adjust the height and/or the rotational angle of the optical calibration device in space.
Optionally, the rigid body base in the optical calibration apparatus further includes a fixing plane, the fixing plane is opposite to the mounting plane, and the rigid body base is fixedly connected to the end effector through the fixing plane.
Optionally, the length of each fixing rod is 5-15cm, and the length of any two fixing rods is equal.
Optionally, the number of the light reflecting balls is 4-9.
Optionally, the distance between the centers of any two of the light-reflecting balls is 5-30 cm.
Optionally, the radius of the light reflecting ball is 1.15-1.45cm, and the radius of any two light reflecting balls is equal.
The camera calibration system based on the robot sweeping field comprises a mobile robot, a path control terminal, a camera system, a camera server and a data processing terminal, wherein: the mobile robot is used for moving in the demarcation place according to presetting the sweep route to send the actual movement path to the path control terminal, install optics calibration device on the mobile robot, optics calibration device includes: the rigid body base is fixedly connected with the mobile robot and is provided with a mounting plane; the fixing rods and the mounting plane are arranged at included angles, and the end parts of the fixing rods, which are adjacent to the rigid body base, are fixed on the mounting plane; the number of the light reflecting balls is the same as that of the fixed rods, and the ball center distances of any two light reflecting balls are different from each other; the path control terminal is in communication connection with the mobile robot and the camera server and is used for sending a path change instruction to the mobile robot and sending a camera closing instruction to the camera server when the actual moving path does not meet the preset requirement; the camera system comprises a plurality of optical dynamic capturing cameras and is used for acquiring the moving images of the optical calibration device and sending the moving images to the camera server; the camera server is used for sending the camera closing instruction to the camera system when receiving the camera closing instruction, and is also used for sending the received moving image to the data processing terminal; and the data processing terminal is used for calibrating the optical dynamic camera according to the moving image. Compared with the mode that a user swings the calibration rod to calibrate the camera in the three-dimensional scene in the prior art, the method has the advantages that the sweep efficiency is high, the track of the reflective ball is prevented from being too concentrated, the camera calibration precision is improved, and the technical problems of low efficiency and low calibration precision of the conventional camera calibration mode are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a camera calibration system based on a robot farm according to the present invention;
fig. 2 is a schematic structural diagram of an optical calibration apparatus in an embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a camera calibration system based on a robot sweeping field.
The camera calibration system based on the robot sweeping field is applied to a camera calibration scene. In the image measurement process and machine vision application, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in the image, a geometric model of camera imaging must be established, the geometric model parameters are camera parameters, the parameters must be obtained through experiments and calculation under most conditions, and the process of solving the parameters is called as camera calibration (or camera calibration). The calibration of the camera is a very important link for optical motion capture, and the accuracy of the result generated by the operation of the camera is directly influenced by the precision of the calibration result and the stability of the algorithm.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a camera calibration system based on a robot farm. In this embodiment, the camera calibration system based on the robot farm includes a mobile robot 100, a path control terminal 200, a camera system 300, a camera server 400, and a data processing terminal 500, wherein:
the mobile robot 100 is configured to move in a calibration field according to a preset sweeping path, and send an actual moving path to the path control terminal 200, and the mobile robot 100 is installed with the optical calibration device 110, where the optical calibration device 110 includes:
a rigid body base 111, the rigid body base 111 being fixedly connected to the mobile robot 100, the rigid body base 111 being provided with an installation plane;
at least 3 fixing rods 112, the fixing rods 112 are arranged at an included angle with the installation plane, and the end parts of the fixing rods 112 adjacent to the rigid body base 111 are fixed on the installation plane;
at least 3 reflective balls 113, the reflective balls 113 are mounted at the end of the fixing rod 112 far from the rigid base 111, the number of the reflective balls 113 is the same as that of the fixing rod 112, and the distance between the centers of any two reflective balls 113 is different from each other;
the path control terminal 200 is in communication connection with the mobile robot 100 and the camera server 400, and is configured to send a path change instruction to the mobile robot 100 and send a camera closing instruction to the camera server 400 when the actual moving path does not meet the preset requirement;
the camera system 300 comprises a plurality of optical motion capture cameras, and is used for acquiring the motion images of the optical calibration device 110 and sending the motion images to the camera server 400;
a camera server 400 for transmitting a camera-off instruction to the camera system 300 when the camera-off instruction is received, the camera server 400 further for transmitting the received moving image to the data processing terminal 500;
and the data processing terminal 500 is used for calibrating the optical motion capture camera according to the motion image.
Specifically, in this embodiment, the mobile robot 100 may first set a sweep path, and the shape of the sweep path may be flexibly set, for example, the sweep path may be in a shape of "8", an arc of a disk ring, or a sine wave or a cosine wave; the mobile robot 100 moves in a calibration place according to a preset sweeping path, and transmits its own actual movement path to the path control terminal 200, wherein the calibration place refers to a camera calibration place, which is within a photographing space range of the camera system 300.
To achieve optical positioning, the mobile robot 100 is mounted with an optical calibration device 110. Referring to fig. 2, fig. 2 is a schematic structural diagram of an optical calibration apparatus in an embodiment of the present invention, the optical calibration apparatus 110 includes a rigid body base 111, a fixing rod 112, and a light-reflecting ball 113, where:
the rigid base 111 is a mounting carrier for mounting the fixing rod 112 and the light reflecting ball 113, and the rigid base 111 may be any shape, that is, the rigid base 111 may be a cube, a cuboid, a cylinder, or other shapes, and is not limited herein. The rigid body base 111 is provided with a mounting plane, which may be any surface of the rigid body base 111, and the size of the mounting plane may be set according to actual circumstances.
The number of the fixing rods 112 is at least 3, each fixing rod 112 is arranged at an included angle with the installation plane, and the end part of the fixing rod, which is adjacent to the rigid body base 111, can be fixed on the installation plane through bonding, splicing or welding, and the like, and specifically, the fixing rod can be installed in the middle position of the installation plane, and also can be installed at the edge position of the installation plane.
The number of the reflective balls 113 is at least 3, which is the same as the number of the fixing rods 112, the reflective balls 113 are installed at the end of the fixing rods 112 far away from the rigid base 111, so as to distinguish different reflective balls 113 when calculating the coordinates of the reflective balls 113 by software, and the distance between the centers of any two reflective balls 113 is different. The reflective ball 113 is coated with a material capable of reflecting light, for example, the reflective ball 113 may be coated with a photosensitive material capable of reflecting infrared light, so that the infrared camera can receive the reflected light of the reflective ball 113 and position the reflective ball 113.
Specifically, the reflective ball 113 may be concavely provided with a slot, and one end of the fixing rod 112 away from the rigid base 111 is inserted into the slot, so as to ensure that the reflective ball 113 is firmly fixed and is convenient to detach; in addition, the light reflecting ball 113 may be connected to one end of the fixing rod 112 away from the rigid base 111 by means of bonding or welding, and may be flexibly disposed during implementation.
It should be noted that the arrangement of the light-reflecting balls 113 in the space can be flexibly set. For example, when the number of the light-reflecting balls 113 is 3, the 3 light-reflecting balls 113 may be linearly arranged, so that the centers of the 3 light-reflecting balls 113 are on the same straight line, and the distance between the centers of any two light-reflecting balls 113 is different; for another example, when the number of the light-reflecting balls 113 is 5, the 5 light-reflecting balls 113 may be arranged in a T shape or a cross shape, and the distance between the centers of any two light-reflecting balls 113 is different. Of course, the reflective balls 113 may be arranged in other ways, such as around the edge of the rigid base 111.
The path control terminal 200 may be a smartphone, a tablet computer, or a server, and the path control terminal 200 is communicatively connected to the mobile robot 100 and the camera server 400. In consideration of the reason that the mobile robot 100 is blocked by an obstacle in the field, the actual moving path of the mobile robot 100 may be different from the preset sweeping path, and for this reason, when the mobile robot 100 moves in the calibration field according to the preset sweeping path, the mobile robot 100 continuously detects the actual surrounding data to generate the actual moving path. When the path control terminal 200 receives the actual moving path sent by the mobile robot 100, it may determine whether the actual moving path meets a preset requirement, for example, when the actual moving path is too concentrated and the coverage rate of the actual moving path on the calibration site is less than a preset threshold, or when the deviation value of the actual moving path from the preset sweeping path is greater than the preset threshold, it may determine that the actual moving path does not meet the preset requirement; when the actual moving path of the mobile robot 100 does not meet the preset requirement, the path control terminal 200 sends a path change instruction to the mobile robot 100 to control the mobile robot 100 to re-plan the moving path, and at the same time, the path control terminal 200 sends a camera closing instruction to the camera server 400 to control the optical motion capture camera in the camera system 300 to stop working when the actual moving path does not meet the preset requirement by the camera server 400.
Specifically, if the motion trajectory of the mobile robot 100 does not meet the preset requirement, the motion path is re-planned by changing the moving direction of the mobile robot 100 until the motion trajectory of the mobile robot 100 is not too concentrated; the camera server 400 controls whether the camera collects the motion trail image sequence of the optical calibration device 110 according to whether the motion trail of the mobile robot 100 meets a preset requirement, if so, the camera server 400 controls the camera to shoot, otherwise, the shooting is not started, so that the energy consumption is saved.
The camera system 300 includes a plurality of optical motion capture cameras disposed in the motion space, which may be infrared cameras, and may be in communication connection with the camera server 400 through a wired or wireless connection, and during the movement of the mobile robot 100, the optical motion capture cameras emit infrared light and are reflected by the reflective balls on the optical calibration device 110, so as to collect the motion images of the optical calibration device 110, and transmit the motion images to the camera server 400.
The camera server 400 is communicatively connected to the path control terminal 200 and the camera system 300. When the camera server 400 receives a camera turn-off instruction sent by the path control terminal 200, the camera turn-off instruction is sent to the camera system 300 to control the optical motion capture camera in the camera system 300 to stop working, so that energy consumption is saved; when the camera server 400 receives the moving image transmitted by the camera system 300, the moving image is transmitted to the data processing terminal 500, so that the data processing terminal 500 calibrates each camera in the camera system 300 according to the moving image.
The data processing terminal 500 may be a smartphone, a tablet computer, or a server, which is in communication connection with the camera server 400. The data processing terminal 500 is configured to perform camera calibration on the optical motion capture camera according to the motion image, that is, calculate camera parameters of the optical motion capture camera. The specific calculation method may be: firstly, the three-dimensional track coordinates of the reflective ball 113 on the optical calibration device 110 are calculated according to the moving image, and then the position and the direction of each optical motion capture camera in the camera system 300 are generated according to the three-dimensional track coordinates, so that the calibration is completed.
Further, the mobile robot 100 includes an environmental data collection device, a wireless transmission device, a sweeping path generation device, and a robot driving device, which are sequentially connected in a communication manner, and the robot driving device is connected in a communication manner with the path control terminal. Wherein:
when the mobile robot 100 moves in the calibration site according to the preset sweeping path, the environment data acquisition device is used for acquiring the environment data of the calibration site and sending the environment data to the wireless transmission device;
the wireless transmission device is used for receiving the environmental data and sending the environmental data to the sweeping path generating device;
the sweeping path generating device is used for generating an actual moving path according to the environment data and sending the actual moving path to the robot driving device and the path control terminal, so that the robot generates the actual moving path according to the actual surrounding environment;
the robot driving device is used for driving the mobile robot to move in a calibration field according to an actual moving path, for example, when the mobile robot touches an obstacle and the like in a preset sweeping path, the robot can avoid the obstacle according to the actual moving path; the robot driving device is also used for receiving the path changing instruction sent by the path control terminal and driving the mobile robot to move in the calibration field according to the changed path according to the path changing instruction. It should be understood that, after the sweep path generating device generates the actual moving path, the actual moving path is sent to the robot driving device and the path control terminal, so that the driving device can drive the mobile robot to successfully avoid the obstacle and the like according to the actual moving path, and meanwhile, after the path control terminal receives the actual moving path signal, the path control terminal controls the mobile robot to move by judging whether the actual moving path meets the preset requirement or not. Specifically, for example, when the actual environment field includes a plurality of obstacles, and the mobile robot avoids the obstacles for a plurality of times to cause a dense movement path or a repeated roundabout movement path, it may be determined that the movement path is too concentrated, which indicates that the actual movement path does not meet the preset requirement, where the dense degree of the movement path may be understood as that the number of times of occurrence of the reflective balls captured by the camera in a certain area exceeds a preset threshold; when the fact that the actual moving path does not meet the preset requirement is received, the path control terminal sends a path changing instruction to the robot driving device, so that the robot driving device drives the mobile robot to move in the calibration field according to the path which meets the preset requirement after changing according to the path changing instruction, and therefore accuracy of camera calibration is improved.
Further, the mobile robot 100 may further include a translational degree-of-freedom component and/or a rotational degree-of-freedom component, and an end effector disposed on the translational degree-of-freedom component and/or the rotational degree-of-freedom component. The optical calibration device 110 is fixedly connected to the end effector, the translational degree of freedom component and/or the rotational degree of freedom component are used for adjusting the height and/or the rotational angle of the end effector, and the end effector is used for driving and adjusting the height and/or the rotational angle of the optical calibration device in space. By the arrangement, the reflective ball 113 on the optical calibration device 110 can traverse the three-dimensional capture space as much as possible, so that the problem that the conventional calibration rod cannot reach a certain height is avoided, and the calibration precision of the camera is improved.
It should be noted that the end effector refers to a tool connected to the edge (joint) of the robot and having a certain function, and is used for driving the optical calibration device 110 to translate and rotate in space; the optical calibration device 110 may be fixedly connected to the end effector by means of bonding, welding, or clipping, which is not limited herein.
In a preferred connection manner, the rigid body base 111 of the optical calibration device 110 further includes a fixing plane, the fixing plane is disposed opposite to the installation plane, and the rigid body base 111 is fixedly connected with the end effector through the fixing plane. By such an arrangement, it is ensured that the optical calibration device 110 is firmly fixed on the end effector, and the light-reflecting ball 113 on the optical calibration device 110 is not shielded.
Further, for the optical calibration device 110, the length of the fixing rod 112 may be 5-15cm, specifically 5cm, 10cm or 15cm, and the lengths of any two fixing rods 112 are equal. By the arrangement, the light reflecting balls 113 are not shielded by the rigid base 111 as much as possible, so that the moving images acquired by each dynamic capture camera contain as many light reflecting balls 113 as possible, and the camera calibration accuracy is improved.
Further, considering that the number of the reflective balls 113 is too large to affect the calculation efficiency of the camera calibration, the number of the reflective balls 113 may be set to 4-9, and specifically may be 4, 5 or 9. In addition, the distance between the centers of any two light-reflecting balls 113 may be 5-30cm, specifically 5cm, 10cm, 20cm or 30cm, the radius of the light-reflecting ball 113 may be 1.15-1.45cm, specifically 1.15cm, 1.30cm or 1.45cm, and the radii of any two light-reflecting balls 113 are equal. So set up, both be convenient for carry out the motion image to reflection of light ball 113 and gather, be favorable to improving camera again and mark efficiency.
The camera calibration system based on the robot farm according to the present embodiment includes a mobile robot 100, a path control terminal 200, a camera system 300, a camera server 400, and a data processing terminal 500, wherein: the mobile robot 100 is configured to move in a calibration field according to a preset sweeping path, and send an actual moving path to the path control terminal 200, and the mobile robot 100 is installed with the optical calibration device 110, where the optical calibration device 110 includes: a rigid body base 111, the rigid body base 111 being fixedly connected to the mobile robot 100, the rigid body base 111 being provided with an installation plane; at least 3 fixing rods 112, the fixing rods 112 are arranged at an included angle with the installation plane, and the end parts of the fixing rods 112 adjacent to the rigid body base 111 are fixed on the installation plane; at least 3 reflective balls 113, the reflective balls 113 are mounted at the end of the fixing rod 112 far from the rigid base 111, the number of the reflective balls 113 is the same as that of the fixing rod 112, and the distance between the centers of any two reflective balls 113 is different from each other; the path control terminal 200 is in communication connection with the mobile robot 100 and the camera server 400, and is configured to send a path change instruction to the mobile robot 100 and send a camera closing instruction to the camera server 400 when the actual moving path does not meet the preset requirement; the camera system 300 comprises a plurality of optical motion capture cameras, and is used for acquiring the motion images of the optical calibration device 110 and sending the motion images to the camera server 400; a camera server 400 for transmitting a camera-off instruction to the camera system 300 when the camera-off instruction is received, the camera server 400 further for transmitting the received moving image to the data processing terminal 500; and the data processing terminal 500 is used for calibrating the optical motion capture camera according to the motion image. So set up, compare in prior art through the mode that the user waves the camera of demarcation pole in to three-dimensional scene and carry out the demarcation, sweep the field efficiently, and avoided the track of reflection of light ball too concentrated to be favorable to improving the camera and demarcate the precision, thereby this embodiment has solved the technical problem that the inefficiency that current camera demarcated the mode and demarcate the precision low.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The camera calibration system based on the robot sweeping field is characterized by comprising a mobile robot, a path control terminal, a camera system, a camera server and a data processing terminal, wherein:
the mobile robot is used for moving in a calibration field according to a preset sweeping path and sending an actual moving path to a path control terminal, an optical calibration device is installed on the mobile robot, and the optical calibration device comprises:
the rigid body base is fixedly connected with the mobile robot and is provided with a mounting plane;
the fixing rods and the mounting plane are arranged at included angles, and the end parts, adjacent to the rigid body base, of the fixing rods are fixed to the mounting plane;
the number of the light reflecting balls is the same as that of the fixing rods, and the distance between the centers of any two light reflecting balls is different from each other;
the path control terminal is in communication connection with the mobile robot and the camera server and is used for sending a path change instruction to the mobile robot and sending a camera closing instruction to the camera server when the actual moving path does not meet the preset requirement;
the camera system comprises a plurality of optical dynamic capture cameras and is used for acquiring the motion images of the optical calibration device and sending the motion images to the camera server;
the camera server is used for sending the camera closing instruction to the camera system when receiving the camera closing instruction, and the camera server is also used for sending the received moving image to the data processing terminal;
and the data processing terminal is used for calibrating the optical dynamic capturing camera according to the moving image.
2. The robot-sweeping-based camera calibration system according to claim 1, wherein the mobile robot comprises an environmental data acquisition device, a wireless transmission device, a sweeping path generation device and a robot driving device, the environmental data acquisition device, the wireless transmission device, the sweeping path generation device and the robot driving device are sequentially connected in a communication manner, and the robot driving device is connected with the path control terminal in a communication manner.
3. The camera calibration system based on the robot farm according to claim 2,
the environment data acquisition device is used for acquiring the environment data of the calibration site and sending the environment data to the wireless transmission device;
the wireless transmission device is used for receiving the environment data and sending the environment data to the sweeping path generating device;
the sweeping path generating device is used for generating the actual moving path according to the environment data and sending the actual moving path to the robot driving device and the path control terminal;
the robot driving device is used for driving the mobile robot to move in the calibration field according to the actual moving path, and is also used for receiving a path changing instruction sent by the path control terminal and driving the mobile robot to move in the calibration field according to the changed path according to the path changing instruction.
4. The robot farm according to claim 1, wherein the mobile robot further comprises a translational degree of freedom component and/or a rotational degree of freedom component mounted thereon, and an end effector disposed on the translational degree of freedom component and/or the rotational degree of freedom component.
5. The system according to claim 4, wherein the optical calibration device is fixedly connected to the end effector, the translational degree-of-freedom component and/or the rotational degree-of-freedom component is used for adjusting the height and/or the rotational angle of the end effector, and the end effector is used for driving and adjusting the height and/or the rotational angle of the optical calibration device in space.
6. The robotic field-based camera calibration system of claim 5, wherein the rigid body base of the optical calibration device further comprises a fixing plane, the fixing plane being disposed opposite to the mounting plane, the rigid body base being fixedly connected to the end effector via the fixing plane.
7. The robot-based sweeping camera calibration system of any one of claims 1 to 6, wherein the length of the fixed rods is 5-15cm, and the length of any two fixed rods is equal.
8. The robot farm according to claim 7, wherein the number of the light reflecting balls is 4-9.
9. The robot-based camera calibration system of claim 7, wherein the distance between the centers of any two of the reflective balls is 5-30 cm.
10. The robot-scan-field-based camera calibration system as claimed in claim 7, wherein the radius of the reflective sphere is 1.15-1.45cm, and the radius of any two reflective spheres is equal.
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