CN115601439A - Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system - Google Patents
Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system Download PDFInfo
- Publication number
- CN115601439A CN115601439A CN202211171782.6A CN202211171782A CN115601439A CN 115601439 A CN115601439 A CN 115601439A CN 202211171782 A CN202211171782 A CN 202211171782A CN 115601439 A CN115601439 A CN 115601439A
- Authority
- CN
- China
- Prior art keywords
- calibration
- coordinate system
- laser ranging
- ranging sensor
- direct current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 title claims abstract description 27
- 239000011159 matrix material Substances 0.000 title claims abstract description 27
- 230000009466 transformation Effects 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000005259 measurement Methods 0.000 claims description 15
- 230000000007 visual effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G06T3/02—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
Abstract
A calibration device and a calibration method for a two-dimensional affine transformation matrix of a coordinate system belong to the technical field of camera calibration. Measuring the distances between the laser ranging sensor and X and Y axes of a conveyor belt coordinate system to obtain the coordinates of the circle center of the turntable under the conveyor belt coordinate system, and obtaining the coordinates of the calibration point under the conveyor belt coordinate system according to the fixed mounting position relation between the circle center of the turntable and the calibration point on the calibration plate; and calculating a two-dimensional affine transformation matrix between the two coordinate systems according to the coordinates of the calibration point under the conveyor belt coordinate system and the coordinates of the calibration point under the image pixel coordinate system. The method does not need the assistance of a mechanical arm with high precision and high cost, can conveniently realize the calculation of the two-dimensional affine transformation matrix between coordinate systems, is simple to use and accurate in calibration, and can perform repeated calibration.
Description
Technical Field
The invention belongs to the technical field of camera calibration, relates to a calibration device and a calibration method for a two-dimensional affine transformation matrix of a coordinate system, and particularly relates to a calibration device and a calibration method for a two-dimensional affine transformation matrix of an image pixel coordinate system relative to a conveyor belt coordinate system.
Background
In order to improve the working efficiency and reduce the production cost, the combination of machine vision and robot technology is gradually applied to the work of online material detection, tracking, sorting and the like on a production line. In practical application, two-dimensional image pixel coordinates of the materials in an image are acquired according to a machine vision system, the image pixel coordinates are converted into physical coordinates in a conveying belt coordinate system by using a calibrated two-dimensional affine transformation matrix, and finally the sorting action of the materials is completed on the basis of tracking the position of an object.
Currently, the nine-point calibration method is a two-dimensional hand-eye calibration method widely used in industry. A nine-point calibration plate (composed of nine circles) is placed in the visual field range of a camera, and coordinates of nine circle centers (namely nine points) in a camera image pixel coordinate system can be obtained after image processing. However, when the nine-point calibration method is actually used in a conveyor belt system, the coordinates of the nine points in the conveyor belt coordinate system are generally measured manually without the aid of a robot arm having a precise positioning function. However, when a relevant measuring tool (such as a laser range finder) is used for manual measurement, on one hand, the position of the center of a circle on the nine-point calibration plate is difficult to find, and on the other hand, the laser range finder is difficult to ensure to be perpendicular to the axis of the conveyor belt coordinate system. Therefore, the measurement precision of the coordinates of the nine points in the conveyor belt coordinate system is difficult to ensure, so that the calibration result is inaccurate, time and labor are wasted during calibration, and the repeated calibration difficulty is high.
Disclosure of Invention
The invention aims to provide a calibration device and a calibration method for a two-dimensional affine transformation matrix of a coordinate system aiming at the defects of the current nine-point calibration method in the use process.
The application provides a coordinate system two-dimensional affine matrix calibration device adopts following technical scheme:
a coordinate system two-dimensional affine transformation matrix calibration device comprises a main control module, a direct current motor driving module and a power supply module, wherein the main control module, the direct current motor driving module and the power supply module are arranged outside the device; the method is characterized in that: the calibration device is also formed by connecting a base, a calibration plate, a camera, a direct current motor, a turntable and a laser ranging sensor; the power supply module is respectively in power supply connection with the camera, the direct current motor, the laser ranging sensor, the main control module and the direct current motor driving module; the camera is fixedly arranged above the base and is in control connection with the main control module; the calibration plate is fixedly arranged on the base and is positioned in the visual field range of the camera so as to obtain the image of the calibration plate and the image pixel coordinates of each calibration point; the direct current motor is fixed on the base and is driven and controlled by the direct current motor driving module so as to start and stop the direct current motor; the rotary table is fixedly connected with the direct current motor and synchronously rotates, two diameter line sections which are orthogonal to each other are arranged on the rotary table, at least 1 laser ranging sensor is arranged on one diameter line section, and at least 2 laser ranging sensors are arranged on the other diameter line section and are used for measuring the coordinate of each calibration point under a conveyor belt coordinate system; the laser ranging sensor is used for measuring and acquiring the data of the coordinate system of the conveying belt and is connected with the main control module, and the main control module reads the data of the coordinate system and then controls the direct current motor driving module to drive the direct current motor to rotate.
By adopting the technical scheme, the main control module controls the camera to shoot to obtain the image of the calibration plate, after image processing is carried out, the detection of the calibration points on the calibration plate is completed to obtain the image pixel coordinates of each calibration point, and the two-dimensional affine transformation matrix between the two coordinate systems is calculated according to the coordinates of each calibration point under the conveying belt coordinate system and the coordinates of each calibration point under the image pixel coordinate system.
Optionally, the turntable is provided with two diameter line sections AB and CD which are orthogonal to each other, the diameter line section AB is provided with a first laser ranging sensor and a second laser ranging sensor which are used for measuring the distance of the X axis of the conveyor belt coordinate system, and the diameter line section CD is provided with a third laser ranging sensor which is used for measuring the distance of the Y axis of the conveyor belt coordinate system.
By adopting the technical scheme, on the other hand, the laser ranging sensor is ensured to be fully vertical to the axis of the conveying belt coordinate system, on the other hand, the measurement precision of the coordinates of the nine points in the conveying belt coordinate system is ensured, the difficulty of repeated calibration is reduced, and the accuracy of a calibration result is greatly improved.
Optionally, the directions of the measuring surfaces of the first laser ranging sensor and the second laser ranging sensor are the same, the measuring surface is aligned with the diameter line segment AB, and the measuring surface of the third laser ranging sensor is aligned with the diameter line segment CD.
By adopting the technical scheme, the installation precision of the laser distance measuring sensor and the diameter line segment of the turntable is ensured, and the measurement accuracy and the measurement precision of the distance between the X axis and the Y axis of the conveying belt coordinate system are improved.
Optionally, a measuring position relationship which is not shielded by each other is formed among the first laser ranging sensor, the second laser ranging sensor and the third laser ranging sensor on the turntable.
Through adopting above-mentioned technical scheme, made clear the mounted position relation between the three laser rangefinder sensor, mutually not form when measuring between the three laser rangefinder sensor promptly and shelter from the interference, ensured measuring accuracy.
Optionally, a rotating shaft of the dc motor is connected and fixed with a circle center of the turntable through a coupler to realize synchronous rotation, and a plane of the turntable is always parallel to a plane of the base.
By adopting the technical scheme, the turntable is driven by the direct current motor to synchronously rotate, the rotation is time-saving and labor-saving, the assistance of a mechanical arm with high precision and high cost is not needed, and the problem that the circle center position on the positioning plate is difficult to find during manual measurement in the past is solved.
Optionally, the calibration board is a nine-point calibration board, 9 circles with fixed positions and sizes are printed on the calibration board, and the circle centers of the 9 circles are used as 9 calibration points.
By adopting the technical scheme, a nine-point calibration plate (composed of nine circles) is placed in the visual field range of the camera, and coordinates of nine circle centers (namely nine points) in a camera image pixel coordinate system can be obtained after image processing. On the basis, the coordinates of the nine points in the coordinate system of the conveying belt are obtained, and the two-dimensional affine transformation matrix between the two coordinate systems can be obtained through calculation according to the nine groups of coordinates.
A calibration method of a two-dimensional affine transformation matrix of a coordinate system is characterized by comprising the following steps:
(1) Fixing a camera, setting a conveyor belt coordinate X axis and a conveyor belt coordinate Y axis of a conveyor belt coordinate system, horizontally placing a calibration device on a conveyor belt, and keeping a turntable plane parallel to a base plane;
(2) Placing the calibration plate in the visual field range of a camera, and taking the centers of 9 circles on the calibration plate as 9 calibration points;
(3) The distances between the first laser ranging sensor (91) and the second laser ranging sensor (92) and the X axis of the conveying belt coordinate system are measured and recorded as
And
measuring the distance from the third laser ranging sensor (93) to the Y axis of the conveyor belt coordinate system and recording the distance as d y ；
(4) The main control module (10) controls the first laser ranging sensor (91), the second laser ranging sensor (92) and the third laser ranging sensor (93) to start measurement at the same time, reads measurement data, drives the direct current motor (5) to rotate through the direct current motor driving module (11), the turntable (7) synchronously rotates, and the measurement is carried out when the first laser ranging sensor (91) and the second laser ranging sensor (92)Stopping driving the direct current motor (5) when the absolute error between the obtained numerical values of the distance from the X axis of the conveyor belt coordinate system is smaller than a set threshold value; at the moment, the diameter line segment AB of the rotary table where the first laser ranging sensor (91) and the second laser ranging sensor (92) are located is parallel to the X axis (131) of the conveying belt coordinate system, and the coordinate of the circle center O of the rotary table (7) under the conveying belt coordinate system is obtained
(5) According to the fixed installation position relation between the circle center O of the turntable (7) and the 9 calibration points on the calibration plate, the coordinates of the 9 calibration points on the calibration plate under the conveyor belt coordinate system can be obtained;
(6) The main control module (10) controls the camera (3) to shoot to obtain a calibration plate image, after image processing is carried out, detection of 9 calibration points on the calibration plate is completed to obtain image pixel coordinates of the 9 calibration points, and a two-dimensional affine transformation matrix between two coordinate systems is calculated according to the coordinates of the 9 calibration points under a conveyor belt coordinate system and the coordinates under an image pixel coordinate system.
In summary, the present application includes at least one of the following beneficial technical effects:
1. coordinate measurement of each calibration point on the calibration plate in a conveyor belt coordinate system and coordinate measurement in an image pixel coordinate system can be completed without the assistance of a mechanical arm with high precision and high cost, and the calculation of a two-dimensional affine transformation matrix between the coordinate systems is realized;
2. the method is simple to use, the calibration process is full-automatic, and repeated calibration can be performed.
Drawings
FIG. 1 is a schematic structural diagram of a calibration device of the present invention.
FIG. 2 is a schematic view of the calibration device according to the present invention in use.
Fig. 3 is a schematic top view of the calibration apparatus of the present invention.
Fig. 4 is a schematic diagram of coordinate transformation of the calibration point of the calibration device of the present invention.
FIG. 5 is a schematic diagram of a circuit module of the calibration apparatus of the present invention.
In the figure: the laser ranging device comprises a base 1, a calibration plate 2, a camera 3, a direct current motor fixing frame 4, a direct current motor 5, a coupler 6, a rotary disc 7, a first fixing plate 81, a second fixing plate 82, a third fixing plate 83, a first laser ranging sensor 91, a second laser ranging sensor 92, a third laser ranging sensor 93, a main control module 10, a direct current motor driving module 11 and a power supply module 12.
Detailed Description
The present invention is further illustrated by the following detailed description in conjunction with the accompanying drawings, it being understood that these embodiments are illustrative of the present patent and are not intended to limit the scope of the present patent, which is defined by the claims appended hereto, as modifications of various equivalent forms by those skilled in the art upon reading the present patent.
Example 1
Referring to fig. 1 and 5, a calibration device of a two-dimensional affine transformation matrix of a coordinate system is formed by connecting a base 1, a calibration plate 2, a camera 3, a direct current motor 5, a turntable 7 and a laser ranging sensor 9; the device is externally provided with a main control module 10, a direct current motor driving module 11 and a power supply module 12; the power supply module 12 is respectively in power supply connection with the camera 3, the direct current motor 5, the laser ranging sensor 9, the main control module 10 and the direct current motor driving module 11; the camera 3 is fixedly arranged above the base 1 and is in control connection with the main control module 10; the calibration plate 2 is fixedly arranged on the base 1 and is positioned in the visual field range of the camera 3 so as to obtain an image of the calibration plate 2 and image pixel coordinates of each calibration point; the direct current motor 5 is fixed on the base 1 and is driven and controlled by the direct current motor driving module 11 so as to start and stop the direct current motor 5; the turntable 7 is fixedly connected with the direct current motor 5 and synchronously rotates, two diameter line sections which are orthogonal to each other are arranged on the turntable 7, at least 1 laser ranging sensor is arranged on one diameter line section, and at least 2 laser ranging sensors are arranged on the other diameter line section and are used for measuring the coordinate of each calibration point under a conveyor belt coordinate system; the laser ranging sensor 9 is used for measuring and acquiring the coordinate system data of the conveyor belt and is connected with the main control module 10, and the main control module 10 reads the coordinate system data and then controls the direct current motor driving module 11 to drive the direct current motor 5 to rotate.
Example 2
Different from the above embodiment 1, referring to fig. 1, 2, 3, and 4, a nine-point calibration board is used as the calibration board 2, 9 circles with fixed positions and sizes are printed on the calibration board 2, and the centers of the 9 circles are used as 9 calibration points. The direct current motor 5 is fixed on the other side of the base 1 through a direct current motor fixing frame 4. The rotating shaft of the direct current motor 5 and the rotating disc 7 are connected at the circle center through a coupling 6 to realize synchronous rotation. The 3 laser distance measuring sensors 91, 92, 93 are fixed to the turntable 7 by laser distance measuring sensor fixing plates 81, 82, 83, respectively. Two mutually orthogonal diameter line segments AB and CD are arranged on the turntable. The laser distance measuring sensors 91 and 92 are fixed on the diameter line section AB and measure the distance from the diameter line section AB to the X axis of the conveyor belt coordinate system, and the laser distance measuring sensor 93 is fixed on the other diameter line section CD and measures the distance from the laser distance measuring sensor to the Y axis of the conveyor belt coordinate system.
The implementation principle of the coordinate system two-dimensional affine transformation matrix calibration device in the embodiment of the application is as follows:
as shown in fig. 4, the coordinate of the center O of the turntable 7 on the base 1 and the 9 calibration points on the calibration plate 2 have a fixed conversion relationship during installation. When the coordinates of the circle center O of the turntable 7 under the conveyor belt coordinate system are known, the coordinates of 9 calibration points on the calibration plate under the conveyor belt coordinate system can be directly calculated according to the conversion relation.
As shown in fig. 5, the main control module 10 simultaneously controls the laser distance measuring sensors 91, 92, 93 to start measurement, reads measurement data, drives the dc motor 5 to rotate through the dc motor driving module 11, and synchronously rotates the turntable 7, when the absolute error between the values measured by the laser distance measuring sensors 91, 92 and the X-axis of the conveyor belt coordinate system is smaller than a set threshold, for example, when the absolute error between the values measured by the laser distance measuring sensors 91, 92 and the X-axis is smaller than the set threshold
The driving of the dc motor is stopped. At this time, the turntable diameter line segment AB where the laser ranging sensors 91 and 92 are located should be parallel to the X-axis 131 of the conveyor belt coordinate system. According to the installation position relation of the laser ranging sensors 91, 92 and 93 on the rotary table 7, the circle center O of the rotary table 7 under a conveyor belt coordinate system can be obtainedThe coordinates are
And then directly calculating the coordinates of the 9 calibration points on the calibration plate under the conveyor belt coordinate system according to the above. The main control module 10 controls the camera 3 to take a picture, obtains an image of the calibration plate, and completes the detection of 9 calibration points on the calibration plate after image processing to obtain image pixel coordinates of the 9 calibration points. And calculating a two-dimensional affine transformation matrix between the two coordinate systems according to the coordinates of the 9 calibration points in the conveying belt coordinate system and the coordinates in the image pixel coordinate system.
Claims (7)
1. A coordinate system two-dimensional affine transformation matrix calibration device comprises a main control module (10), a direct current motor driving module (11) and a power supply module (12), wherein the main control module, the direct current motor driving module and the power supply module are arranged outside the device; the method is characterized in that: the calibration device is also formed by connecting a base (1), a calibration plate (2), a camera (3), a direct current motor (5), a turntable (7) and a laser ranging sensor (9);
the power supply module (12) is respectively in power supply connection with the camera (3), the direct current motor (5), the laser ranging sensor (9), the main control module (10) and the direct current motor driving module (11);
the camera (3) is fixedly arranged above the base (1) and is in control connection with the main control module (10);
the calibration plate (2) is fixedly arranged on the base (1) and is positioned in the visual field range of the camera (3) so as to acquire an image of the calibration plate (2) and image pixel coordinates of each calibration point;
the direct current motor (5) is fixed on the base (1) and is driven and controlled by the direct current motor driving module (11) to start and stop the direct current motor (5);
the turntable (7) is fixedly connected with the direct current motor (5) and synchronously rotates, two diameter line sections which are orthogonal to each other are arranged on the turntable (7), at least 1 laser ranging sensor (9) is arranged on one diameter line section, and at least 2 laser ranging sensors (9) are arranged on the other diameter line section and used for measuring the coordinate of each calibration point under a conveyor belt coordinate system;
the laser ranging sensor (9) is used for measuring and taking the coordinate system data of the conveying belt and is connected with the main control module (10), and the main control module (10) reads the coordinate system data and then controls the direct current motor driving module (11) to drive the direct current motor (5) to rotate.
2. The calibration device for the two-dimensional affine transformation matrix of the coordinate system as claimed in claim 1, wherein: be equipped with two diameter line sections AB and CD of mutual quadrature on carousel (7), be equipped with first laser ranging sensor (91) and second laser ranging sensor (92) that are used for measuring conveyer belt coordinate system X axle distance on the diameter line section AB, be equipped with third laser ranging sensor (93) that are used for measuring conveyer belt coordinate system Y axle distance on the diameter line section CD.
3. A calibration apparatus of two-dimensional affine transformation matrix of coordinate system according to claim 2, wherein: the directions of the measuring surfaces of the first laser ranging sensor (91) and the second laser ranging sensor (92) are consistent, the measuring surfaces of the first laser ranging sensor and the second laser ranging sensor are aligned with the diameter line section AB, and the measuring surfaces of the third laser ranging sensor (93) are aligned with the diameter line section CD.
4. A calibration apparatus of two-dimensional affine transformation matrix of claim 3, wherein: and a measuring position relation which is not blocked is formed among the first laser ranging sensor (91), the second laser ranging sensor (92) and the third laser ranging sensor (93) on the turntable.
5. The calibration device for the two-dimensional affine transformation matrix of the coordinate system as claimed in claim 4, wherein: the center of the bottom surface of the rotary disc (7) is connected with a rotating shaft of the direct current motor (5) through a coupler (6) to realize synchronous rotation, and the plane of the rotary disc (7) is parallel to the plane of the base (1).
6. A calibration apparatus for a two-dimensional affine transformation matrix according to any one of claims 2-5, wherein: the calibration plate (2) is a nine-point calibration plate, 9 circles with fixed positions and sizes are printed on the calibration plate (2), and the circle centers of the 9 circles are used as 9 calibration points.
7. A calibration method of two-dimensional affine transformation matrix of coordinate system, characterized by using the calibration device of any one of claims 1-6, the method is as follows:
(1) The camera (3) is fixed, a conveying belt coordinate X axis (131) and a conveying belt coordinate Y axis (132) of a conveying belt coordinate system are set, the calibration device is horizontally placed on the conveying belt (14), and the plane of the rotary table (7) is parallel to the plane of the base (1);
(2) Placing the calibration plate (2) in the visual field range of the camera (3), and taking the centers of 9 circles on the calibration plate as 9 calibration points;
(3) The distances between the first laser ranging sensor (91) and the second laser ranging sensor (92) and the X axis of the conveyor belt coordinate system are measured and respectively recorded as
And
measuring the distance from the third laser ranging sensor (93) to the Y axis of the conveyor belt coordinate system and recording the distance as d y ；
(4) The main control module (10) simultaneously controls a first laser ranging sensor (91), a second laser ranging sensor (92) and a third laser ranging sensor (93) to start measurement, reads measurement data, drives a direct current motor (5) to rotate through a direct current motor driving module (11), a turntable (7) synchronously rotates, and when the absolute error between values of the distance from a conveyor belt coordinate system X axis measured by the first laser ranging sensor (91) and the second laser ranging sensor (92) is smaller than a set threshold value, the direct current motor (5) is stopped to be driven; at the moment, the diameter line segment AB of the rotary table where the first laser ranging sensor (91) and the second laser ranging sensor (92) are located is parallel to the X axis (131) of the conveying belt coordinate system, and the coordinate of the circle center O of the rotary table (7) under the conveying belt coordinate system can be obtained
(5) According to the fixed installation position relation between the circle center O of the turntable (7) and the 9 calibration points on the calibration plate, the coordinates of the 9 calibration points on the calibration plate under the conveyor belt coordinate system can be obtained;
(6) The main control module (10) controls the camera (3) to take pictures to obtain a calibration plate image, after image processing is carried out, detection of 9 calibration points on the calibration plate is completed to obtain image pixel coordinates of the 9 calibration points, and a two-dimensional affine transformation matrix between two coordinate systems is calculated according to the coordinates of the 9 calibration points under the conveying belt coordinate system and the coordinates under the image pixel coordinate system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171782.6A CN115601439A (en) | 2022-09-26 | 2022-09-26 | Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211171782.6A CN115601439A (en) | 2022-09-26 | 2022-09-26 | Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115601439A true CN115601439A (en) | 2023-01-13 |
Family
ID=84845190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211171782.6A Withdrawn CN115601439A (en) | 2022-09-26 | 2022-09-26 | Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115601439A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117152273A (en) * | 2023-11-01 | 2023-12-01 | 安徽中科星驰自动驾驶技术有限公司 | Camera calibration equipment for automatic driving vehicle |
-
2022
- 2022-09-26 CN CN202211171782.6A patent/CN115601439A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117152273A (en) * | 2023-11-01 | 2023-12-01 | 安徽中科星驰自动驾驶技术有限公司 | Camera calibration equipment for automatic driving vehicle |
| CN117152273B (en) * | 2023-11-01 | 2024-02-23 | 安徽中科星驰自动驾驶技术有限公司 | Camera calibration equipment for automatic driving vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110370286B (en) | Method for identifying rigid body space position of dead axle motion based on industrial robot and monocular camera | |
| US4738025A (en) | Automated apparatus and method for positioning multicontact component | |
| CN206347976U (en) | A kind of non-contact surface flatness optical measuring apparatus | |
| US8346392B2 (en) | Method and system for the high-precision positioning of at least one object in a final location in space | |
| CN101182990B (en) | Machine vision based geometric measuring systems of large-sized workpieces in process | |
| CN201107639Y (en) | Large-sized producing workpiece geometric measuring apparatus using machine vision | |
| WO2020147397A1 (en) | Machine vision system for use in curved surface inspection and inspection method | |
| CN210464371U (en) | Industrial image acquisition device with adjustable shooting angle | |
| CN105120608B (en) | The full-automatic placement equipment being electrically connected with controller | |
| CN108554845A (en) | A kind of device of on-line checking wheel hub blank deformation | |
| CN207636025U (en) | A kind of automatic high speed glass monitor station | |
| CN105403156A (en) | Three-dimensional measuring device and data fusion calibration method for three-dimensional measuring device | |
| KR20130040694A (en) | Method for detecting top surface of substrate and scribing apparatus | |
| CN108188835B (en) | Machine vision-based numerical control machine tool spindle thermal elongation testing device and testing method | |
| CN108527007A (en) | Vertical machining centre on-machine measurement system and method based on optical triangulation | |
| CN115601439A (en) | Calibration device and calibration method for two-dimensional affine transformation matrix of coordinate system | |
| CN110645911A (en) | Device and method for obtaining complete outer surface 3D contour through rotary scanning | |
| CN110470247B (en) | Device and method for detecting coaxiality of inner and outer circular surfaces of part | |
| CN113376156B (en) | Full-automatic detection device for die | |
| JP2015001432A (en) | Plate peripheral edge processing device and method for measurement and correction of processing accuracy | |
| CN110458894B (en) | Calibration method for camera and contact type measuring head of measuring machine | |
| CN109319477B (en) | Lifting type high-speed material taking and discharging platform and working method | |
| CN215810776U (en) | Three-dimensional target tracking and scanning device | |
| CN111221298B (en) | Machining system with visual positioning function and machining method | |
| JPS63102294A (en) | Electronic component tester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20230113 |
|
| WW01 | Invention patent application withdrawn after publication |