CN112902961A - Calibration method, medium, calibration equipment and system based on machine vision positioning - Google Patents
Calibration method, medium, calibration equipment and system based on machine vision positioning Download PDFInfo
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Abstract
The invention provides a calibration method, a medium, calibration equipment and a system based on machine vision positioning, wherein the calibration method based on machine vision positioning comprises the following steps: acquiring the rotation angle and the first coordinate of the Mark point; determining a first coordinate of a rotating point by using the rotating angle and the first coordinate of the Mark point; the first coordinate of the rotation point is coordinate information of the rotation point in a coordinate system of the image acquisition device, and the coordinate of the rotation point in the coordinate system of the electromechanical device is a second coordinate of the rotation point; and converting the first coordinate of the point in the sensing range of the image acquisition device into a second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point. The invention can support large-angle rotation under large rotation radius by selecting the rotation point, thereby improving the calibration accuracy.
Description
Technical Field
The invention belongs to the technical field of electromechanical control, relates to a calibration method, and particularly relates to a calibration method, medium, calibration equipment and system based on machine vision positioning.
Background
Along with the continuous development of industrial automation technology, the intelligence degree and the flexibility degree of electromechanical equipment are greatly improved, for example, a mechanical arm type robot is used, a camera is used as an image acquisition device and fixed at the tail end of the robot, and the robot performs actions such as rotation and translation through the rotation center of a rotating flange disc. In the positioning correction application, the camera shoots and acquires the coordinates of the workpiece in a camera coordinate system. And the robot coordinate system is needed when the robot grabs and places the workpiece. Therefore, in most positioning rectification and guidance applications, the coincidence of the camera coordinate system and the robot coordinate system, i.e. the parallel and origin point alignment of the two coordinate systems, needs to be completed. In the prior art, the 12-point calibration is usually used for converting two coordinate systems, and the rotation center is arranged at the center of a flange plate of the robot. The camera is thereby rotated about the center of the flange. And determining the relative position of the rotation center in the camera coordinate system through the acquired coordinate information. However, when the rotation radius is large, the camera does not support large-angle rotation due to a small shooting or sensing visual field range, and the flange rotation center cannot be estimated accurately due to a small rotation angle, so that the large-angle rotation and the accurate estimation of the rotation center are difficult to balance.
Therefore, how to provide a calibration method, medium, calibration device and system based on machine vision positioning to solve the defect that the rotation center cannot be accurately positioned through large-angle rotation when the rotation radius is large in the prior art, and the like, is a technical problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a calibration method, medium, calibration apparatus and system based on machine vision positioning, which are used to solve the problem that the prior art cannot accurately position the rotation center through a large-angle rotation when the rotation radius is large.
In order to achieve the above and other related objects, the present invention provides a calibration method based on machine vision positioning, which is applied to a calibration device, wherein the calibration device is respectively connected to an image acquisition device and an electromechanical device in a communication manner; the image acquisition device is arranged on the electromechanical equipment and rotates around a rotation point together with a rotating part of the electromechanical equipment according to preset rotation angle information; the image acquisition device is used for shooting Mark points of the workpiece at different rotation angles and acquiring first coordinates of the Mark points; the first coordinate of the Mark point is coordinate information of the Mark point in a coordinate system of the image acquisition device; the calibration method based on machine vision positioning comprises the following steps: acquiring the rotation angle and the first coordinate of the Mark point; determining a first coordinate of a rotating point by using the rotating angle and the first coordinate of the Mark point; the first coordinate of the rotation point is coordinate information of the rotation point in a coordinate system of the image acquisition device, and the coordinate of the rotation point in the coordinate system of the electromechanical device is a second coordinate of the rotation point; and converting the first coordinate of the point in the sensing range of the image acquisition device into a second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point.
In an embodiment of the present invention, the rotation point is disposed within a sensing range of the image capturing device; the step of determining the first coordinate of the rotation point by using the rotation angle and the first coordinate of the Mark point comprises the following steps: taking the corresponding first coordinate of the Mark point as an initial first coordinate when the rotation angle is 0; and determining the first coordinate of the rotating point by using the rotating angle, the first coordinate of the Mark point and the initial first coordinate.
In an embodiment of the present invention, the step of determining the first coordinate of the rotation point by using the rotation angle, the first coordinate of the Mark point, and the initial first coordinate includes: constructing a coefficient matrix through the rotation angle; determining a coordinate vector according to the rotation angle, the first coordinate of the Mark point and the initial first coordinate; according to a preset equivalent relation, taking a solving result of a least square method as a first coordinate of the rotation point; the preset equivalence relation is that the product of the coefficient matrix and the first coordinate of the rotation point is equal to the coordinate vector.
In an embodiment of the present invention, the step of converting the first coordinate of the point within the sensing range of the image capturing device into the second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point includes: subtracting the first abscissa of the point from the first abscissa of the rotation point, and summing the difference with the second abscissa of the rotation point to obtain the second abscissa of the point; and subtracting the first vertical coordinate of the point from the first vertical coordinate of the rotating point, and summing the difference with the second vertical coordinate of the rotating point to obtain the second vertical coordinate of the point.
In an embodiment of the invention, after the step of converting the first coordinate of the point within the sensing range of the image capturing device into the second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point, the calibration method based on machine vision positioning further includes: and sending the second coordinate of the point to the electromechanical equipment so that the electromechanical equipment positions the workpiece to complete the production operation of the workpiece.
To achieve the above and other related objects, another aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the calibration method based on machine vision positioning.
To achieve the above and other related objects, a further aspect of the present invention provides a calibration apparatus, comprising: a processor and a memory; the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory to enable the calibration device to execute the calibration method based on machine vision positioning.
To achieve the above and other related objects, a last aspect of the present invention provides a calibration system based on machine vision positioning, including: the calibration device comprises electromechanical equipment, an image acquisition device and the calibration equipment; the calibration equipment is respectively in communication connection with the image acquisition device and the electromechanical equipment; the image acquisition device is used for uploading the first coordinate of the Mark point to the calibration equipment; and the electromechanical equipment is used for uploading the rotation angle and the second coordinate of the rotation point to the calibration equipment.
In an embodiment of the present invention, the electromechanical device is a robot; the rotating part of the manipulator is a flange plate; the center of the flange plate rotates around the rotation point together with the image acquisition device.
In an embodiment of the invention, the manipulator is configured to determine the rotation angle information according to the rotation angle input command, and thereby control the center of the flange to rotate around the rotation point together with the image capturing device.
As described above, the calibration method, medium, calibration device and system based on machine vision positioning according to the present invention have the following advantages:
the invention selects the rotation point different from the center of the rotating part, arranges the rotation point in the visual field range of the image acquisition device, can support large-angle rotation under a large rotation radius, realizes accurate positioning and coordinate calculation of the rotation point, further improves the calibration accuracy, and can be widely applied to positioning related application projects such as positioning correction, visual guidance and the like.
Drawings
Fig. 1 is a schematic view of an application scenario of the calibration method based on machine vision positioning according to an embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating a calibration method based on machine vision positioning according to an embodiment of the present invention.
FIG. 3 is a rotation diagram of the machine vision positioning based calibration method according to an embodiment of the present invention.
FIG. 4 is a schematic flow chart illustrating a machine vision positioning based calibration method according to an embodiment of the present invention.
Fig. 5 is a schematic structural connection diagram of the calibration apparatus according to an embodiment of the present invention.
Fig. 6 is a schematic structural diagram of a machine vision positioning-based calibration system according to an embodiment of the present invention.
Description of the element reference numerals
1 calibration equipment
11 processor
12 memory
2 electromechanical device
3 image acquisition device
S41-S43
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
The calibration method, medium, calibration equipment and system based on machine vision positioning can support large-angle rotation under a large rotation radius through selection of the rotation point, so that the calibration accuracy is improved.
The principle and implementation of the calibration method, medium, calibration device and system based on machine vision positioning according to the present embodiment will be described in detail below with reference to fig. 1 to 6, so that those skilled in the art can understand the calibration method, medium, calibration device and system based on machine vision positioning without creative work.
Please refer to fig. 1, which is a schematic view of an application scenario of the calibration method based on machine vision positioning according to an embodiment of the present invention. As shown in fig. 1, the electromechanical device is exemplified by a robot of a robot hand type, the rotating member is exemplified by a flange, the image acquisition device is exemplified by a camera, the camera is fixed to the end of the robot, fig. 1 shows a relative positional relationship between the camera at the end of the robot and the flange of the robot, and the robot performs operations related to production operations such as rotation and translation of a workpiece through the center of the rotating flange. In the rotation process, a deflection angle exists between the camera and the center of the flange plate relative to the vertical direction, so that the camera is equivalent to a point to form a right triangle, and the two right-angle sides are Delta _ x and Delta _ y respectively.
The electromechanical device may be a device that requires cooperation of an image acquisition device and conforms to the technical principle of the present invention, other than a robot of a robot hand type, and the image acquisition device may be a device that conforms to the technical principle of the present invention, other than a camera, and can acquire an image and coordinate information of each point in the image.
In a robot application scenario of a robot manipulator, a camera is fixed on the manipulator, a camera coordinate system is generated after the camera is calibrated, and the robot has its own coordinate system (the origin of which is at the center of the base of the robot). In the application of positioning deviation rectification, the deviation is generated by a camera coordinate system, and if the original points of the camera coordinate system and the robot coordinate system are not coincident, the problems of inaccurate deviation rectification and overlarge deviation can be caused.
Please refer to fig. 2, which is a schematic diagram illustrating a calibration method based on machine vision positioning according to an embodiment of the present invention. As shown in fig. 2, the camera captures the coordinates of the workpiece in the camera coordinate system, and the robot uses the robot coordinate system when the workpiece is captured and placed. The robot flange plate is connected with the camera through the existing connecting part and connecting mechanism, the connecting line between the rotation center of the flange plate and the rotation point is the rotation radius, and the dotted line square frame represents the field range of the camera induction. Also aiming at large rotation radius, the center of the flange plate is taken as a rotation point in the prior art, so that the distance between the camera and the rotation point is relatively long, and the arc length swept by the camera is relatively long after the camera deflects for a certain angle; set up the rotation point into the point of being different from the ring flange center in this application, preferably set up in camera response field of vision within range, therefore, even the radius of rotation is great, the camera is close the rotation point, after deflecting the same angle, the arc length that the camera was swept is less, can guarantee that the Mark point is in camera response field of vision within range all the time to carry out the accurate positioning of rotation point in the camera coordinate system.
Here, the large rotation radius is a relative concept, and for example, a rotation radius of several hundreds of cm is defined as a large rotation radius with respect to a robot having a rotation radius of 5 cm.
Please refer to fig. 3, which is a rotation diagram of the machine vision positioning based calibration method according to an embodiment of the present invention. As shown in fig. 3, the calibration method based on machine vision positioning is applied to a calibration device, and the calibration device is respectively in communication connection with an image acquisition device and an electromechanical device; the image acquisition device is arranged on the electromechanical equipment and rotates together with a rotating part of the electromechanical equipment around a rotating point according to preset rotating angle information. In the past rotation, the Mark point needs to be within the camera field of view. The selection of the rotation point is preferably as close as possible to the Mark point position and may also coincide. It should be noted that the rotation point may not be selected within the field of view of the camera, and in this case, the implementation of the calibration method principle based on machine vision positioning of the present invention is not affected within a certain rotation radius range and within a range allowed by the coordinate estimation error of the rotation point.
The image acquisition device is used for shooting Mark points of the workpiece at different rotation angles and acquiring first coordinates of the Mark points; the first coordinate of the Mark point is coordinate information of the Mark point in a coordinate system of the image acquisition device. The coordinate system of the image acquisition device is a camera coordinate system, and the coordinate system of the electromechanical equipment is a robot coordinate system.
Please refer to fig. 4, which is a schematic flowchart illustrating a calibration method based on machine vision positioning according to an embodiment of the present invention. As shown in fig. 4, the electromechanical device is exemplified by a manipulator (or a robot), the image capturing device is exemplified by a camera, and the calibration method based on machine vision positioning specifically includes the following steps:
and S41, acquiring the rotation angle and the first coordinate of the Mark point.
In practical applications, the image obtained by the camera is calibrated by a 9-point calibration method to determine the coordinates of each point (e.g., Mark point) in the image. Setting the coordinates of Mark points under the initial photographing position of a camera as
It should be noted that the 9-point calibration method is only one embodiment of determining the camera coordinate system in the present invention, and other calibration methods such as a checkerboard calibration board that can determine the camera coordinate system are within the scope of the present invention.
S42, determining a first coordinate of a rotating point by using the rotating angle and the first coordinate of the Mark point; the first coordinate of the rotation point is coordinate information of the rotation point in a coordinate system of the image acquisition device, and the coordinate of the rotation point in the coordinate system of the electromechanical device is a second coordinate of the rotation point. Specifically, the first coordinate of the rotation point, i.e. the coordinate of the rotation point in the camera coordinate system, is
The second coordinate of the rotation point, i.e. the coordinate of the rotation point in the robot coordinate system, is (x)RotationInRobot,yRotationInRobot)。
In one embodiment, the rotation point is located within an induction range of the image capturing device; s42 includes the steps of: taking the corresponding first coordinate of the Mark point as an initial first coordinate when the rotation angle is 0; and determining the first coordinate of the rotating point by using the rotating angle, the first coordinate of the Mark point and the initial first coordinate.
In practical application, the initial first coordinate is defined as
Wherein the step of determining the first coordinate of the rotation point comprises:
(1) and constructing a coefficient matrix through the rotation angle.
In particular toIn the ground, k rotation angles obtained by rotating k times are expressed as: thetak,k∈[1,K]Whereby the coefficient matrix is defined as:
(2) and determining a coordinate vector through the rotation angle, the first coordinate of the Mark point and the initial first coordinate.
Specifically, the coordinates of Mark points in the initial photographing position of the camera are
And the coordinate of the Mark point under the corresponding camera coordinate system, namely the first coordinate of the Mark point is defined as
Defining the coordinate vector as
Wherein:
(3) according to a preset equivalent relation, taking a solving result of a least square method as a first coordinate of the rotation point; the preset equivalence relation is that the product of the coefficient matrix and the first coordinate of the rotation point is equal to the coordinate vector.
Specifically, the coordinates of the rotation point in the camera coordinate system, i.e., the first coordinates of the rotation point, are defined as
Thus, the preset equivalence relation is specifically expressed as:
Akx＝tk
for k A' skAnd tkAll satisfy the above formula, and k equations are expressed as follows:
wherein, it is made
The above formula can be expressed as: by x r, the final x least squares solution is obtained, expressed as: x ═ BTB)-1BTr。
And S43, converting the first coordinate of the point in the sensing range of the image acquisition device into a second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point.
In one embodiment, S43 includes the following steps: subtracting the first abscissa of the point from the first abscissa of the rotation point, and summing the difference with the second abscissa of the rotation point to obtain the second abscissa of the point; and subtracting the first vertical coordinate of the point from the first vertical coordinate of the rotating point, and summing the difference with the second vertical coordinate of the rotating point to obtain the second vertical coordinate of the point.
Specifically, the conversion from any point in the camera coordinate system to the robot coordinate system is completed at the initial photographing position of the camera.
Assuming that in the initial photographing position, a first coordinate of any point of the camera coordinate system, i.e. a point within the sensing range of the image capturing device, is represented as (x)Cam,yCam) Then, it can be calculated by the following formula, and its coordinate in the robot coordinate system, i.e. the second coordinate of the point (including the second abscissa of the point and the second ordinate of the point):
xRobot＝xCam-xRotationInCam+xRotationInRobot
yRobot＝yCam-yRotationInCam+yRotationInRobot
thereby, on the workpieceAnd under the condition that all the Mark points are kept still, the coordinate of the same Mark point in the camera coordinate system is obtained under different rotation angles by rotating around the rotating point. Solving the coordinate of the rotation point in the camera coordinate system through simultaneous equations
And finally, coordinates of any point on the camera coordinate system can be converted into the robot coordinate system.
In an embodiment, after step S43, the calibration method based on machine vision positioning further includes: and sending the second coordinate of the point to the electromechanical equipment so that the electromechanical equipment positions the workpiece to complete the production operation of the workpiece.
In practical application, the robot work is divided into a teaching link (a demonstration or test link before production and operation) and a production link (a production and operation process). The calibration method based on machine vision positioning can be applied to both a teaching link and a production link.
The protection scope of the calibration method based on machine vision positioning according to the present invention is not limited to the execution sequence of the steps listed in the embodiment, and all the solutions implemented by adding, subtracting and replacing the steps in the prior art according to the principles of the present invention are included in the protection scope of the present invention.
The present embodiment provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the machine vision positioning-based calibration method.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the above method embodiments may be performed by hardware associated with a computer program. The aforementioned computer program may be stored in a computer readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned computer-readable storage media comprise: various computer storage media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Please refer to fig. 5, which is a schematic structural connection diagram of a calibration apparatus according to an embodiment of the present invention. As shown in fig. 5, the present embodiment provides a calibration apparatus 1, which specifically includes: a processor 11 and a memory 12; the memory 12 is configured to store a computer program, and the processor 11 is configured to execute the computer program stored in the memory 12, so as to enable the calibration apparatus 1 to perform the steps of the calibration method based on machine vision positioning.
The Processor 11 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component.
The Memory 12 may include a Random Access Memory (RAM), and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
In practical applications, the calibration device may be a computer including all or part of the components of a memory, a memory controller, one or more processing units (CPUs), a peripheral interface, RF circuitry, audio circuitry, speakers, a microphone, an input/output (I/O) subsystem, a display screen, other output or control devices, and an external port; the computer includes, but is not limited to, Personal computers such as desktop computers, notebook computers, tablet computers, smart phones, Personal Digital Assistants (PDAs), and the like. In other embodiments, the calibration device may also be a server, where the server may be arranged on one or more entity servers according to various factors such as functions and loads, or may be a cloud server formed by a distributed or centralized server cluster, which is not limited in this embodiment.
Please refer to fig. 6, which is a schematic structural diagram of a machine vision positioning-based calibration system according to an embodiment of the present invention. As shown in fig. 6, the calibration system based on machine vision positioning according to the present invention includes: a calibration device 1, an electromechanical device 2 and an image acquisition apparatus 3. The calibration device is respectively in communication connection with the image acquisition device and the electromechanical device, and the electromechanical device 2 and the image acquisition device 3 in the dashed line frame represent: the image acquisition device 3 is arranged on the electromechanical device 2, and preferably, the image acquisition device 3 is arranged at the tail end of the electromechanical device 2.
The image acquisition device is used for uploading the first coordinates of the Mark points to the calibration equipment.
And the electromechanical equipment is used for uploading the rotation angle and the second coordinate of the rotation point to the calibration equipment.
In one embodiment, the electromechanical device is a robot; the rotating part of the manipulator is a flange plate; the center of the flange plate rotates around the rotation point together with the image acquisition device.
In an embodiment, the manipulator is configured to determine rotation angle information according to a rotation angle input command, and thereby control the center of the flange to rotate around the rotation point together with the image capturing device.
Specifically, the manipulator includes a controller and a control panel, and the operation panel is used for presenting a setting interface of a rotation angle and a rotation point coordinate to an operator, so that the rotation angle input instruction refers to an operation instruction which is set and sent by the operator on the control panel for the rotation angle. The controller is used for controlling the manipulator to execute corresponding actions according to the setting information of the rotation angle and the rotation point coordinate received by the operation panel. In addition, the operation panel is also used for presenting the coordinate information of the flange plate center after the rotation of the manipulator in the robot coordinate system to an operator. Specifically, the operator may input coordinates of any point in space on the control panel, where the coordinates of any point refer to position information of each point in the airspace coordinate system, so that the manipulator rotates around the point.
The principle of the calibration system based on machine vision positioning of the invention corresponds to the calibration method based on machine vision positioning one to one, and the calibration system based on machine vision positioning of the invention can realize the calibration method based on machine vision positioning of the invention, but the realization device of the calibration method based on machine vision positioning of the invention includes but is not limited to the structure of the calibration system based on machine vision positioning listed in the embodiment, and all structural modifications and replacements in the prior art made according to the principle of the invention are included in the protection scope of the invention.
In summary, the calibration method, medium, calibration device and system based on machine vision positioning of the present invention select a rotation point different from the center of the rotation component, locate the rotation point within the visual field of the image capturing device, and can support large-angle rotation under a large rotation radius, so as to achieve precise positioning and coordinate calculation of the rotation point, and further improve the calibration accuracy, and can be widely applied to positioning related application items such as positioning correction, vision guidance and the like. The invention effectively overcomes various defects in the prior art and has high industrial utilization value.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A calibration method based on machine vision positioning is characterized by being applied to a calibration device which is respectively in communication connection with an image acquisition device and electromechanical equipment; the image acquisition device is arranged on the electromechanical equipment and rotates around a rotation point together with a rotating part of the electromechanical equipment according to preset rotation angle information; the image acquisition device is used for shooting Mark points of the workpiece at different rotation angles and acquiring first coordinates of the Mark points; the first coordinate of the Mark point is coordinate information of the Mark point in a coordinate system of the image acquisition device;
the calibration method based on machine vision positioning comprises the following steps:
acquiring the rotation angle and the first coordinate of the Mark point;
determining a first coordinate of a rotating point by using the rotating angle and the first coordinate of the Mark point; the first coordinate of the rotation point is coordinate information of the rotation point in a coordinate system of the image acquisition device, and the coordinate of the rotation point in the coordinate system of the electromechanical device is a second coordinate of the rotation point;
and converting the first coordinate of the point in the sensing range of the image acquisition device into a second coordinate based on the first coordinate of the rotation point and the second coordinate of the rotation point.
2. The machine-vision-positioning-based calibration method according to claim 1, wherein the rotation point is located within a sensing range of the image acquisition device; the step of determining the first coordinate of the rotation point by using the rotation angle and the first coordinate of the Mark point comprises the following steps:
taking the corresponding first coordinate of the Mark point as an initial first coordinate when the rotation angle is 0;
and determining the first coordinate of the rotating point by using the rotating angle, the first coordinate of the Mark point and the initial first coordinate.
3. The machine-vision-positioning-based calibration method as claimed in claim 2, wherein said step of determining said first coordinate of said rotation point using said rotation angle, said first coordinate of said Mark point and said initial first coordinate comprises:
constructing a coefficient matrix through the rotation angle;
determining a coordinate vector according to the rotation angle, the first coordinate of the Mark point and the initial first coordinate;
according to a preset equivalent relation, taking a solving result of a least square method as a first coordinate of the rotation point; the preset equivalence relation is that the product of the coefficient matrix and the first coordinate of the rotation point is equal to the coordinate vector.
4. The machine-vision-positioning-based calibration method according to claim 1, wherein said step of converting a first coordinate of a point within a sensing range of said image capturing device into a second coordinate based on said first coordinate of said rotation point and said second coordinate of said rotation point comprises:
subtracting the first abscissa of the point from the first abscissa of the rotation point, and summing the difference with the second abscissa of the rotation point to obtain the second abscissa of the point;
and subtracting the first vertical coordinate of the point from the first vertical coordinate of the rotating point, and summing the difference with the second vertical coordinate of the rotating point to obtain the second vertical coordinate of the point.
5. The machine-vision-positioning-based calibration method according to claim 1, wherein after the step of converting the first coordinates of the points within the sensing range of the image capturing device into the second coordinates based on the first coordinates of the rotation point and the second coordinates of the rotation point, the machine-vision-positioning-based calibration method further comprises:
and sending the second coordinate of the point to the electromechanical equipment so that the electromechanical equipment positions the workpiece to complete the production operation of the workpiece.
6. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the machine vision positioning-based calibration method of any one of claims 1 to 5.
7. A calibration apparatus, comprising: a processor and a memory;
the memory is configured to store a computer program, and the processor is configured to execute the computer program stored in the memory to cause the calibration apparatus to perform the calibration method based on machine vision positioning as claimed in any one of claims 1 to 5.
8. A machine vision positioning based calibration system, comprising: electromechanical device, image acquisition means and calibration device according to claim 7; the calibration equipment is respectively in communication connection with the image acquisition device and the electromechanical equipment;
the image acquisition device is used for uploading the first coordinate of the Mark point to the calibration equipment;
and the electromechanical equipment is used for uploading the rotation angle and the second coordinate of the rotation point to the calibration equipment.
9. The machine-vision-positioning-based calibration system as claimed in claim 8, wherein said electromechanical device is a robot; the rotating part of the manipulator is a flange plate;
the center of the flange plate rotates around the rotation point together with the image acquisition device.
10. The machine-vision-positioning-based calibration system of claim 9, wherein:
the manipulator is used for determining rotation angle information according to a rotation angle input instruction and controlling the center of the flange plate to rotate around the rotation point together with the image acquisition device.
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