CN114998446A - Calibration method between camera and manipulator, controller, device and storage medium - Google Patents
Calibration method between camera and manipulator, controller, device and storage medium Download PDFInfo
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- CN114998446A CN114998446A CN202210596794.7A CN202210596794A CN114998446A CN 114998446 A CN114998446 A CN 114998446A CN 202210596794 A CN202210596794 A CN 202210596794A CN 114998446 A CN114998446 A CN 114998446A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1692—Calibration of manipulator
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Abstract
The invention discloses a calibration method, a controller, equipment and a storage medium between a camera and a manipulator, wherein the calibration method comprises the following steps: controlling the manipulator to sequentially run to a plurality of calibration points, and acquiring a first mechanical coordinate and a first pixel coordinate of the manipulator at each calibration point; establishing a conversion relation between the manipulator and the camera according to the first mechanical coordinates and the first pixel coordinates, and recording the conversion relation as a first conversion relation; randomly selecting a plurality of second pixel coordinates, and calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and the first conversion relation; controlling the manipulator to sequentially move to a plurality of second mechanical coordinate positions to obtain a plurality of corresponding third pixel coordinates; and establishing a conversion relation between the manipulator and the camera according to the third pixel coordinate and the second mechanical coordinate, and calculating the conversion relation as a second conversion relation. The invention reduces the complexity of manual operation of the calibration method between the camera and the manipulator and improves the working efficiency.
Description
Technical Field
The invention relates to the field of visual detection, in particular to a calibration method, a controller, equipment and a storage medium between a camera and a manipulator.
Background
The vision technology applied by the automatic equipment is to use a camera to replace human eyes to complete the functions of identification and measurement. In the process of visual inspection, the coordinate information of the mechanical device is obtained through the coordinate information shot by the camera, and if the mechanical coordinate information is to be obtained from the visual coordinate information, the conversion relationship between the image coordinate system and the mechanical coordinate system needs to be established.
The existing calibration method ensures that a calibration point appears at a calibration position in the visual field of a camera by manually determining the motion coordinate of the machine or the movement distance of the machine each time, the camera takes a picture on each calibration coordinate, the pixel coordinate is recorded, and the conversion relation between an image coordinate system and a mechanical coordinate system is calculated according to the mechanical coordinate and the pixel coordinate.
Disclosure of Invention
The invention mainly aims to provide a calibration method, a controller, equipment and a storage medium between a camera and a manipulator, aiming at reducing the complexity of manual operation of the calibration method between the camera and the manipulator and improving the working efficiency.
In order to achieve the above object, the present invention provides a calibration method between a camera and a manipulator, including:
step S10, controlling the manipulator to sequentially run to a plurality of calibration points, acquiring a first mechanical coordinate of the manipulator at each calibration point, and acquiring a first pixel coordinate of a camera shot at each calibration point;
step S20, establishing a conversion relation between the manipulator and the camera according to the first mechanical coordinates and the first pixel coordinates, and recording the conversion relation as a first conversion relation;
step S30, randomly selecting a plurality of second pixel coordinates, and calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and the first conversion relational expression;
step S40, controlling the manipulator to sequentially move to a plurality of second mechanical coordinate positions, and controlling the camera to shoot when the manipulator moves to each second mechanical coordinate so as to obtain a plurality of corresponding third pixel coordinates;
and step S50, establishing a conversion relation between the manipulator and the camera according to the third pixel coordinate and the second mechanical coordinate, and calculating as a second conversion relation.
Optionally, the step S20 specifically includes the following steps:
establishing a conversion equation set of a mechanical coordinate system and a pixel coordinate system;
and substituting the plurality of first pixel coordinates and the first mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a first conversion relational expression.
Optionally, the conversion equation set in step S20 is specifically: x (n) ═ ax (n) + by (n) + c and y (n) ═ dx (n) + ey (n) + f, where a, b, c, d, e, f are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), and y (n) are the x-axis component and the y-axis component of the mechanical coordinates, respectively.
Optionally, the step S50 specifically includes the following steps:
establishing a conversion equation set of a mechanical coordinate system and a pixel coordinate system;
and substituting the plurality of third pixel coordinates and the second mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a second conversion relational expression.
Optionally, the conversion equation set in step S50 is specifically: x (n) ═ ax (n) + by (n) + C and y (n) ═ dx (n) + ey (n) + F, where a, B, C, D, E, F are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), and y (n) are the x-axis component and the y-axis component of the mechanical coordinate system, respectively.
Optionally, the following steps are further included after the step S50:
randomly selecting a plurality of third pixel coordinates, calculating a plurality of corresponding third mechanical coordinates according to the selected third pixel coordinates and a second conversion relational expression, and obtaining the accuracy of the second conversion relational expression according to the plurality of third mechanical coordinates and the plurality of second mechanical coordinates;
when the accuracy of the second conversion relation is less than the preset accuracy, repeating the steps S30 to S50;
and when the accuracy of the second conversion relation is greater than or equal to the preset accuracy, recording the second conversion relation as a third conversion relation.
Optionally, the calibration points corresponding to the second pixel coordinates are uniformly distributed in the field of view of the camera.
The invention provides a controller, which comprises a memory and a processor, wherein the memory stores a calibration program between a camera and a manipulator, and the calibration program between the camera and the manipulator realizes the steps of the calibration method between the camera and the manipulator when being executed by the processor.
The invention provides an automatic calibration device, which comprises:
a manipulator;
the camera is used for shooting the manipulator to obtain an image of the manipulator;
and the controller is used for acquiring mechanical coordinates according to the position of the manipulator, acquiring pixel coordinates according to the image of the manipulator, and controlling the manipulator to move and the camera to shoot according to the mechanical coordinates and the pixel coordinates.
The invention provides a storage medium, wherein a calibration program between a camera and a manipulator is stored on the storage medium, and the calibration program between the camera and the manipulator realizes the steps of the calibration method between the camera and the manipulator when being executed by a processor.
The calibration method between the camera and the manipulator of the invention sets a rough calibration process and a precise calibration process, wherein the rough calibration process comprises the following steps: controlling the manipulator to sequentially run to a plurality of calibration points, acquiring a first mechanical coordinate of the manipulator at each calibration point, acquiring a first pixel coordinate shot by a camera at each calibration point, establishing a conversion relation between the manipulator and the camera according to the plurality of first mechanical coordinates and the first pixel coordinate, and recording the conversion relation as a first conversion relational expression; the precise calibration process comprises the following steps: the method comprises the steps of selecting a plurality of second pixel coordinates, calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and a first conversion relational expression, controlling the manipulator to sequentially move to the positions of the plurality of second mechanical coordinates, controlling the camera to shoot the manipulator when the manipulator moves to each second mechanical coordinate so as to obtain a plurality of corresponding third pixel coordinates, establishing the conversion relation between the manipulator and the camera according to the third pixel coordinates and the second mechanical coordinates, and calculating the conversion relation as the second conversion relational expression. When the calibration method works, a first conversion relational expression of a rough calibration process is used for preliminarily calibrating the relationship between a mechanical coordinate system and a pixel coordinate system, a pixel coordinate is set, the pixel coordinate is substituted into a mechanical coordinate obtained by calculation of the first conversion relational expression, a point corresponding to the mechanical coordinate is located in a camera visual field, a plurality of calibration points located in the camera visual field are obtained by setting a plurality of pixel coordinates, and a conversion relational expression of the mechanical coordinate system and the pixel coordinate system is established according to the mechanical coordinate and the pixel coordinate of the internal calibration point located in the camera visual field, so that the process of precise calibration is completed for a second conversion relational expression. Compared with the existing calibration method, the working process has the advantages that the calibration point does not need to be controlled to be positioned in the camera view for many times, the manual operation complexity of the calibration method between the camera and the manipulator is reduced, and the working efficiency is improved.
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 flowchart illustrating an embodiment of a calibration method between a camera and a robot according to the present invention;
fig. 2 is a schematic diagram of a camera shooting a calibration point in an embodiment of the calibration method between a camera and a robot according to the present invention.
The implementation, functional features and advantages of the present invention will be further described 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, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 calibration method between a camera and a manipulator, aiming at solving the problem that the calibration method between the camera and the manipulator is inaccurate due to hidden fault characteristic information of data.
The conventional intelligent learning method is still adopted in the process of establishing the data model of the injection molding machine in the existing large-scale injection molding machine, the hidden fault characteristic information in the data cannot be fully mined, and the problems of insufficient approximation precision, large fluctuation of fault diagnosis precision and insufficient precision exist.
Referring to fig. 1 and 2, in an embodiment of the present invention, a calibration method between the camera and the robot includes:
step S10, controlling the manipulator to sequentially run to a plurality of calibration points, acquiring a first mechanical coordinate of the manipulator at each calibration point, and acquiring a first pixel coordinate of a camera shot at each calibration point;
step S20, establishing a conversion relation between the manipulator and the camera according to the first mechanical coordinates and the first pixel coordinates, and recording the conversion relation as a first conversion relation;
step S30, randomly selecting a plurality of second pixel coordinates, and calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and the first conversion relational expression;
step S40, controlling the manipulator to sequentially move to a plurality of second mechanical coordinate positions, and controlling the camera to shoot when the manipulator moves to each second mechanical coordinate so as to obtain a plurality of corresponding third pixel coordinates;
and step S50, establishing a conversion relation between the manipulator and the camera according to the third pixel coordinate and the second mechanical coordinate, and calculating as a second conversion relation.
In this embodiment, the mechanical coordinate of the calibration point is based on a mechanical coordinate system established by the manipulator, and the mechanical coordinate is related to the moving position of the manipulator; the pixel coordinates of the calibration point are a pixel coordinate system established based on the image shot by the camera, and the pixel coordinates are related to the position of the image shot by the camera in the camera view field. The mechanical arm has a mechanical coordinate at a certain position, the camera shoots the mechanical arm at the position, if an image obtained after shooting is in the camera view field, a corresponding pixel coordinate is obtained, and the conversion relation between the mechanical coordinate system and the pixel coordinate system is obtained through the plurality of mechanical coordinates and the plurality of pixel coordinates corresponding to the mechanical coordinates, so that the conversion relation between the mechanical arm and the camera is obtained, and the calibration between the mechanical arm and the camera is completed.
The calibration method between the camera and the manipulator comprises a rough calibration process and a precise calibration process.
In the course of performing the rough calibration, step S10 and step S20 are executed. The calibration points are manually controlled to be located at different positions in the visual field of the camera, so that the calibration points are ensured to have corresponding mechanical coordinates and pixel coordinates, and first mechanical coordinates and first pixel coordinates of the calibration points are obtained. And establishing a corresponding conversion formula of a mechanical coordinate system and a pixel coordinate system according to the obtained first pixel coordinates and the first mechanical coordinates.
The first conversion relation is used for preliminarily calibrating the relation between the mechanical coordinate system and the pixel coordinate system.
The coordinate point obtained by the first conversion relational expression is close to the actual coordinate point. For example, a second pixel coordinate is set, a point a is corresponding to the second pixel coordinate, the second pixel coordinate is substituted into the first conversion relational expression to calculate a second mechanical coordinate, a point B is corresponding to the calculated second mechanical coordinate, the point a is located close to the point B, and the point B has a pixel coordinate and is located in the field of view of the camera because the point a has a pixel coordinate and is located in the field of view of the camera and the point a is located close to the point B.
If a plurality of second pixel coordinates are set, and a plurality of second mechanical coordinates are obtained through calculation of the first conversion relational expression, points corresponding to the second mechanical coordinates are also located near the point positions corresponding to the originally set second pixel coordinates.
In the process of performing the precise calibration, step S30 and step S50 are executed. Step S30 is to set a plurality of points located in the camera view field, and calculate a plurality of second mechanical coordinates through the first conversion relation, where the points actually corresponding to the second mechanical coordinates are also located in the camera view field. And controlling the camera to shoot when the manipulator runs to each second mechanical coordinate to obtain a plurality of corresponding third pixel coordinates, establishing a conversion relation between the manipulator and the camera according to the third pixel coordinates and the second mechanical coordinates, and calculating the conversion relation as a second conversion relation expression.
In the precise calibration process, the second mechanical coordinate and the third pixel coordinate are calibration points used in the precise calibration process, and the positions of the calibration points are located near the corresponding second pixel coordinates. By setting a plurality of second pixel coordinates, that is, by setting calibration points located in the vicinity of the plurality of second pixel coordinates, the second conversion relational expression is obtained from the calibration points. The more the second pixel coordinates are set, the more the number of the calibration points adopted in the precise calibration process is, and the higher the accuracy of the corresponding second conversion relation is.
The working principle of the embodiment is that the method comprises a rough calibration process and a precise calibration process. And roughly calibrating different positions of the calibration point in the camera view field through manual control to obtain a first conversion relational expression, wherein the coordinate point obtained through the first conversion relational expression is close to the actual coordinate point. And accurately calibrating by setting a plurality of second pixel coordinates, obtaining calibration points near the set second pixel coordinates through the first conversion relational expression, obtaining second mechanical coordinates and third pixel coordinates corresponding to the calibration points, and establishing a conversion relational expression between the manipulator and the camera according to the second mechanical coordinates and the third pixel coordinates. The accurate calibration process does not need to manually control a mechanical arm so as to ensure that the calibration point is positioned in the camera view, and the calibration is realized by obtaining a plurality of calibration points positioned in the camera view through setting a plurality of second pixel coordinates.
The calibration method between the camera and the manipulator of the invention sets a rough calibration process and a precise calibration process, wherein the rough calibration process comprises the following steps: controlling a manipulator to sequentially run to a plurality of calibration points, acquiring a first mechanical coordinate of the manipulator at each calibration point, acquiring a first pixel coordinate shot by a camera at each calibration point, establishing a conversion relation between the manipulator and the camera according to the plurality of first mechanical coordinates and the first pixel coordinate, and recording the conversion relation as a first conversion relation; the precise calibration process comprises the following steps: the method comprises the steps of selecting a plurality of second pixel coordinates, calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and a first conversion relation, controlling the manipulator to sequentially run to the positions of the plurality of second mechanical coordinates, controlling the camera to shoot the manipulator when the manipulator runs to each second mechanical coordinate to obtain a plurality of corresponding third pixel coordinates, establishing the conversion relation between the manipulator and the camera according to the third pixel coordinates and the second mechanical coordinates, and calculating the conversion relation as a second conversion relation. When the calibration method works, a first conversion relational expression of a rough calibration process is used for preliminarily calibrating the relationship between a mechanical coordinate system and a pixel coordinate system, a pixel coordinate is set, the pixel coordinate is substituted into a mechanical coordinate obtained by calculation of the first conversion relational expression, a point corresponding to the mechanical coordinate is located in a camera visual field, a plurality of calibration points located in the camera visual field are obtained by setting a plurality of pixel coordinates, and a conversion relational expression of the mechanical coordinate system and the pixel coordinate system is established according to the mechanical coordinate and the pixel coordinate of the internal calibration point located in the camera visual field, so that the process of precise calibration is completed for a second conversion relational expression. Compared with the existing calibration method, the working process has the advantages that the calibration point does not need to be controlled to be positioned in the camera view for many times, the manual operation complexity of the calibration method between the camera and the manipulator is reduced, and the working efficiency is improved.
In an embodiment, the step S20 specifically includes the following steps:
establishing a conversion equation set of a mechanical coordinate system and a pixel coordinate system;
and substituting the plurality of first pixel coordinates and the first mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a first conversion relational expression.
In the present embodiment, in the system of conversion equations between the mechanical coordinate system and the pixel coordinate system, the mechanical coordinate of the mechanical coordinate system and the pixel coordinate value of the pixel coordinate system are variables. And converting the equation set by introducing the values of the pair variables to obtain an equation set related to the unknown parameters, and solving the equation set related to the unknown parameters to obtain the numerical values of the unknown parameters.
In an embodiment, the conversion equation set in step S20 is specifically: x (n) ═ ax (n) + by (n) + c and y (n) ═ dx (n) + ey (n) + f, where a, b, c, d, e, f are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), and y (n) are the x-axis component and the y-axis component of the mechanical coordinates, respectively.
In this embodiment, the transformation equations of the mechanical coordinate system and the pixel coordinate system are x (n) ═ ax (n) + by (n) + c and y (n) ═ dx (n) + ey (n) + f. The conversion equation set has 6 unknown parameters, at least three calibration points are required to be taken, the mechanical coordinates of the three calibration points are (X1, Y1), (X2, Y2) and (X3, Y3), the pixel coordinates are (X1, Y1), (X2, Y2) and (X3, Y3), the coordinate values of the points are brought into the corresponding equation set, 6 equations about the unknown parameters can be obtained in total, and the 6 unknown parameters are solved through the 6 equations.
In one embodiment, a conversion equation set of a mechanical coordinate system and a pixel coordinate system is established;
and substituting the plurality of third pixel coordinates and the second mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a second conversion relational expression.
In an embodiment, the conversion equation set in step S50 is specifically: x (n) ═ ax (n) + by (n) + C and y (n) ═ dx (n) + ey (n) + F, where a, B, C, D, E, F are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), y (n) are the x-axis component and the y-axis component of the mechanical coordinates, respectively.
In an embodiment, the following steps are further included after the step S50:
randomly selecting a plurality of third pixel coordinates, calculating a plurality of corresponding third mechanical coordinates according to the selected third pixel coordinates and a second conversion relational expression, and obtaining the accuracy of the second conversion relational expression according to the plurality of third mechanical coordinates and the plurality of second mechanical coordinates;
when the accuracy of the second conversion relation is less than the preset accuracy, repeating the steps S30 to S50;
and when the accuracy of the second conversion relation is greater than or equal to the preset accuracy, recording the second conversion relation as a third conversion relation.
In this embodiment, the second mechanical coordinate is an actual mechanical coordinate of the calibration point, the third mechanical coordinate is an actual pixel coordinate of the calibration point, and then the mechanical coordinate obtained by the second conversion relationship, and the distance between the second mechanical coordinate and the third mechanical coordinate may obtain the accuracy of the second conversion relationship.
When the accuracy does not satisfy the requirement, the steps S30 to S50 are repeatedly performed. The more times steps S30 through S50 are performed, the greater the number of index points selected for establishing the second conversion relation, and the more accurate the obtained second conversion relation. The accuracy of the second conversion relation is improved by repeatedly executing steps S30 to S50, and when the accuracy of the second conversion relation meets the requirement, the third conversion relation is the second conversion relation with higher accuracy obtained by repeatedly executing steps S30 to S50.
Referring to fig. 2, in an embodiment, the calibration points corresponding to the second pixel coordinates are uniformly distributed in the field of view of the camera.
In this embodiment, the pixel coordinates are within the camera view field, the camera view field has an interval K in the pixel coordinate system, the selected pixel coordinates (X, Y) are in the interval K, and the selected pixel coordinates are uniformly distributed in the interval K according to the standard. The calibration point corresponding to the second pixel coordinate covers the whole range of the camera view as much as possible, so that the second conversion relation is more accurate.
The invention provides a controller.
The controller comprises a memory and a processor, wherein the memory stores a calibration program between the camera and the manipulator, and the calibration program between the camera and the manipulator realizes the steps of the calibration method between the camera and the manipulator when being executed by the processor. Since the controller of the present invention adopts all the technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and are not described in detail herein.
The invention provides automatic calibration equipment.
The automatic calibration equipment comprises a manipulator, a camera and a controller, wherein the camera is used for shooting the manipulator to obtain an image of the manipulator, the controller is used for obtaining a mechanical coordinate according to the position of the manipulator, obtaining a pixel coordinate according to the image of the manipulator, controlling the manipulator to move and shooting the camera according to the mechanical coordinate and the pixel coordinate, and the controller is the controller. Since the automatic calibration device of the present invention employs all technical solutions of all the above embodiments, all the beneficial effects brought by the technical solutions of the above embodiments are at least achieved, and are not described in detail herein.
The invention relates to a storage medium.
The storage medium stores a calibration program between the camera and the manipulator, and the calibration program between the camera and the manipulator realizes the steps of the calibration method between the camera and the manipulator when being executed by the processor. Since the storage medium of the present invention adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not described in detail herein.
The above description is only an alternative embodiment of the present invention, and 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. A calibration method between a camera and a manipulator is characterized by comprising the following steps:
step S10, controlling the manipulator to sequentially run to a plurality of calibration points, acquiring a first mechanical coordinate of the manipulator at each calibration point, and acquiring a first pixel coordinate of a camera shot at each calibration point;
step S20, establishing a conversion relation between the manipulator and the camera according to the first mechanical coordinates and the first pixel coordinates, and recording the conversion relation as a first conversion relational expression;
step S30, randomly selecting a plurality of second pixel coordinates, and calculating a plurality of corresponding second mechanical coordinates according to the selected second pixel coordinates and the first conversion relational expression;
step S40, controlling the manipulator to sequentially move to a plurality of second mechanical coordinate positions, and controlling the camera to shoot when the manipulator moves to each second mechanical coordinate so as to obtain a plurality of corresponding third pixel coordinates;
and step S50, establishing a conversion relation between the manipulator and the camera according to the third pixel coordinate and the second mechanical coordinate, and calculating as a second conversion relation.
2. The calibration method between the camera and the manipulator according to claim 1, wherein the step S20 specifically includes the steps of:
establishing a conversion equation set of a mechanical coordinate system and a pixel coordinate system;
and substituting the plurality of first pixel coordinates and the first mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a first conversion relational expression.
3. The calibration method between the camera and the manipulator as claimed in claim 2, wherein the system of conversion equations in the step S20 is specifically: x (n) ═ ax (n) + by (n) + c and y (n) ═ dx (n) + ey (n) + f, where a, b, c, d, e, f are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), and y (n) are the x-axis component and the y-axis component of the mechanical coordinates, respectively.
4. The calibration method between the camera and the manipulator according to claim 1, wherein the step S50 specifically includes the steps of:
establishing a conversion equation set of a mechanical coordinate system and a pixel coordinate system;
and substituting the plurality of third pixel coordinates and the second mechanical coordinates into a conversion equation set, and solving to obtain unknown parameters in the conversion equation set so as to obtain a second conversion relational expression.
5. The calibration method between the camera and the manipulator as claimed in claim 4, wherein the system of conversion equations in the step S50 is specifically: x (n) ═ ax (n) + by (n) + C and y (n) ═ dx (n) + ey (n) + F, where a, B, C, D, E, F are unknown parameters, x (n), y (n) are the x-axis component and the y-axis component of the pixel coordinate system, respectively, x (n), y (n) are the x-axis component and the y-axis component of the mechanical coordinates, respectively.
6. The calibration method between the camera and the manipulator as claimed in claim 1, further comprising the following steps after the step S50:
randomly selecting a plurality of third pixel coordinates, calculating a plurality of corresponding third mechanical coordinates according to the selected third pixel coordinates and a second conversion relational expression, and obtaining the accuracy of the second conversion relational expression according to the plurality of third mechanical coordinates and the plurality of second mechanical coordinates;
when the accuracy of the second conversion relation is less than the preset accuracy, repeating the steps S30 to S50;
and when the accuracy of the second conversion relation is greater than or equal to the preset accuracy, recording the second conversion relation as a third conversion relation.
7. The method for calibrating between a camera and a manipulator according to claim 1, wherein the calibration points corresponding to the second pixel coordinates are uniformly distributed in the field of view of the camera.
8. A controller, characterized in that the controller comprises a memory and a processor, the memory stores a calibration program between the camera and the manipulator, the calibration program between the camera and the manipulator realizes the steps of the calibration method between the camera and the manipulator according to any one of claims 1 to 6 when the processor executes the calibration program.
9. An automated calibration apparatus, comprising:
a manipulator;
the camera is used for shooting the manipulator to obtain an image of the manipulator;
a controller for obtaining a mechanical coordinate according to a position of the manipulator and a pixel coordinate according to an image of the manipulator, and controlling the manipulator to move and the camera to shoot according to the mechanical coordinate and the pixel coordinate, wherein the controller is the controller according to claim 8.
10. A storage medium, characterized in that the storage medium stores a calibration program between a camera and a manipulator, and the calibration program between the camera and the manipulator is executed by a processor to realize the steps of the calibration method between the camera and the manipulator according to any one of claims 1 to 7.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117140558A (en) * | 2023-10-25 | 2023-12-01 | 菲特（天津）检测技术有限公司 | Coordinate conversion method, system and electronic equipment |
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| CN117140558A (en) * | 2023-10-25 | 2023-12-01 | 菲特（天津）检测技术有限公司 | Coordinate conversion method, system and electronic equipment |
| CN117140558B (en) * | 2023-10-25 | 2024-01-16 | 菲特（天津）检测技术有限公司 | Coordinate conversion method, system and electronic equipment |
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