CN116051639B - Method for improving fly-swatter positioning accuracy - Google Patents
Method for improving fly-swatter positioning accuracy Download PDFInfo
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- CN116051639B CN116051639B CN202310042382.3A CN202310042382A CN116051639B CN 116051639 B CN116051639 B CN 116051639B CN 202310042382 A CN202310042382 A CN 202310042382A CN 116051639 B CN116051639 B CN 116051639B
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30244—Camera pose
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Abstract
The invention provides a method for improving the positioning accuracy of a fly swatter, which is used for completing hand-eye calibration on photographing equipment and setting a standard position P of a movable shaft to be fly swatted; phase (C)The camera shoots the fixed features in fixed shooting and flying shooting modes respectively, and converts a camera coordinate system of the fixed features in the fixed shooting mode into a position of a world coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Converting a camera coordinate system of a fixed feature obtained by a fly-swatter into a position of a world coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Setting the fly-swatter speed toCalculation of position from fixed and fly-swatterAndcalculating the fly swatter delay time t from the distance between the two; the movement speed based on the fly swatter isThe fly-swatter point position motion unit vector is(1, 0) acquiring a world coordinate system of feature points in a fly-swatter modeCompensating the coordinate system of the fixed characteristic point, wherein the compensating deviation value is that. The invention can improve the fly-swatter positioning precision by a simple compensation method.
Description
Technical Field
The invention relates to a method for positioning a fly swatter, in particular to a method for improving the positioning accuracy of the fly swatter, which is applied to the field of automation.
Background
The fly shooting is a common technology in the field of automation, the camera can be utilized to shoot in the process of relative movement of an object and the camera, the object does not need to move to a shooting position to stay, the position of the object is calculated by vision to shoot, and the whole process moving mechanism is not stopped, so that the running time of the mechanism is saved, and the production efficiency can be greatly improved through the machine vision fly shooting technology. Because the fly shooting is performed from moving to in place, triggering by hardware, completing image acquisition by a camera, a certain time delay is inevitably needed, and for guiding positioning projects, the time delay can directly increase visual positioning errors.
Based on the technical problems existing in the prior art, the processing speed of the traditional hardware equipment cannot meet the requirements of fly-swatter positioning, most manufacturers currently shorten exposure time to reduce delay time and error by improving hardware speed, such as selecting a high-speed camera, a high-speed IO plate and the like, but the scheme inevitably requires improved hardware cost, in addition, the improvement of the hardware equipment can only reduce the error caused by the delay time in a limited way, but the improvement effect is limited.
In the prior art, at least the following disadvantages exist when the fly-swatter positioning is performed:
1. when the low-speed hardware is subjected to fly-swatting positioning, aiming at guiding positioning items, the existing delay is increased to be a visual positioning error, and the error is larger to cause lower fly-swatting positioning precision;
2. for the high-speed hardware to perform fly shooting positioning, the equipment requirement is higher, the hardware cost is greatly increased, in addition, the delay error can only be reduced to a certain extent by increasing the reaction speed of the hardware, and the effect is not ideal.
Disclosure of Invention
In order to overcome the above-mentioned drawbacks, the present invention provides a method for improving the positioning accuracy of a fly swatter, which obtains a resulting position offset vector (first offset) of a fixed feature in a fly swatter mode and in a fixed swatter mode by fly swatter calibration, calculates a fly swatter delay time (first delay time) according to the position offset vector and a fly swatter speed, calculates an offset vector (second offset) according to the fly swatter delay time measured under the fly swatter calibration and the fly swatter speed of the fixed feature when the fly swatter is positioned on the fixed feature, and compensates the fly swatter result of the fixed feature by using the offset vector. The calibration compensation is realized by adopting the relationship of the fly shooting calibration multiple groups of data fitting offset along with the speed change, which is the phase-change realization mode of the invention. The method can remove errors caused by trigger delay to the maximum extent, and improves the positioning accuracy of the fixed features in the fly shooting mode under the condition of controlling the cost. In order to achieve the technical effects, the invention protects the following technical scheme.
The invention provides a method for improving the positioning accuracy of a fly swatter, which comprises the following steps: step by stepS1, completing hand-eye calibration on photographing equipment, completing coordinate transformation between a camera coordinate system and a world coordinate system, and setting a standard position P of a movable shaft to be shot; step S2, the camera photographing equipment photographs the fixed features in a fixed photographing mode and converts a camera coordinate system of the fixed features into a world coordinate systemThe method comprises the steps of carrying out a first treatment on the surface of the Step S3, the camera shoots the fixed feature in a fly-swatter mode, and converts a camera coordinate system of the fixed feature obtained by the fly-swatter into a world coordinate system +.>The method comprises the steps of carrying out a first treatment on the surface of the Step S4, setting the relative setting fly speed between the photographing apparatus and the photographed object to +.>Calculating a fly-swath delay time t according to the world coordinate system of the fixed feature acquired by the fixed swath in the step S2, the world coordinate system of the fixed feature acquired by the fly-swath in the step S3 and the fly-swath speed, wherein the fly-swath speed is set as per the position calculation of the fixed swath and the fly-swath>And->The distance between the two, and the fly swatter delay time t; s5, performing fly-swatter compensation calculation on the fixed feature, wherein the second fly-swatter movement speed of the fixed feature is +.>The unit vector of the fly shooting point position motion is +.>(1, 0) acquiring the world coordinate system of the next fixed feature at the second fly speed +.>Compensating the coordinate system of the fixed feature according to the delay time t in the step S4,the compensated second deviation value is +>。
Further, the fly-swatter comprises two modes, namely, a camera moving object to be shot of the photographing device is motionless and a camera moving object to be shot of the photographing device is motionless.
Further, a first offset is obtained according to the world coordinate system of the fixed feature in the fixed shooting mode and the world coordinate system of the fixed feature in the fly shooting mode obtained in the step S2 and the step S3 respectively。
Further, the fly-swatting delay time is based on the first offsetAnd the fly speed +.>Obtaining the fly-swatting delay time t = =>。
Further, when the camera of the photographing device moves the photographed object and is not moving or stationary, the coordinate system after the fixed feature at the second flying speed is compensated is: 。
further, when the photographing apparatus is moving with the object stationary, the coordinate system after the fixed feature is compensated at the second fly speed is:。
further, the movement of the dispensing photographed object is guided according to the compensated coordinate system.
Further, the shot object may be a dispensing head, a robot, or a moving axis.
Further, the delay time is repeatedly calculated through calibration for a plurality of times, and the delay time obtained through calculation for a plurality of times is obtained to obtain an average value of the delay time.
The invention has the advantages compared with the prior art that:
1. when the low-speed hardware in the prior art performs the fly-swatter positioning, the delay time is calculated and compensated in a simple mode, so that the vision positioning error is avoided, and the fly-swatter positioning precision is improved;
2. for the fly-swatter positioning of high-speed hardware, the method can reduce the cost and improve the positioning precision by improving the fly-swatter positioning precision as much as possible through delay compensation while reducing the hardware cost.
Drawings
FIG. 1 is a flowchart of a fly-swatter calibration process provided by the invention;
FIG. 2 is a flowchart of a fly-swatter compensation process provided by the present invention;
FIG. 3 is a schematic view of a fixed-beat image provided by the present invention;
fig. 4 is a schematic view of a fly-swatter according to the present invention.
Description of the embodiments
Specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention should be understood not to be limited to such an embodiment described below, and the technical idea of the present invention may be implemented in combination with other known technologies or other technologies having the same functions as those of the known technologies.
In the following description of the specific embodiments, for the sake of clarity in explaining the structure and operation of the present invention, description will be given by way of directional terms, but words of front, rear, left, right, outer, inner, outer, inner, axial, radial, etc. are words of convenience and are not to be construed as limiting terms.
The invention comprises two parts, wherein the first part is the fly swatter calibration, the second part is fly swatter compensation, and the first part and the second part are fused, so that the fly swatter accuracy is improved. The time delay time is directly measured through the fly swatter calibration, the offset is calculated through the fly swatter moving speed when the fly swatter operates, and then the fly swatter result is compensated through the offset. The present invention will be further described in detail with reference to specific embodiments.
First, the concept of fixed shooting and fly shooting in the prior art will be described with reference to fig. 3 and 4. Fig. 3 and 4 show schematic diagrams of the fly-swatter mode and the fixed swatter mode. Fig. 3 shows a schematic diagram of shooting of the dispensing head by a fly shooting mode, wherein the shooting position and the fly shooting position are determined first, when the dispensing head moves to the fly shooting position, the camera 01 shoots the dispensing head to obtain the position coordinates of the dispensing head, and in the mode, the dispensing head and the camera are in a state of relatively moving at the shooting position, wherein an arrow represents the movement direction of the camera; fig. 4 shows a schematic diagram of the dispensing head in a fixed shooting mode, wherein the fixed shooting is different from the flying shooting in that when the dispensing head moves to a shooting position, the camera does not move in the fixed shooting mode, the dispensing head and the camera remain relatively stationary, and after shooting is completed, the camera moves along the arrow direction.
Fig. 2 is a flowchart of the fly-swath calibration process provided by the present invention, and fig. 1 shows a flowchart of the fly-swath compensation process provided by the present invention.
As shown in fig. 1, in this embodiment, a specific implementation of the fly-swatter calibration in the present invention is shown, which includes the following steps:
firstly, before the aerial photographing calibration, the photographing device needs to complete hand-eye calibration so as to meet the conversion from camera coordinates of fixed features of the photographed object to world coordinates, namely, the position coordinates of the fixed features in the photographing device (the camera in the embodiment) are mapped into the world coordinates, and the specific positions of the fixed features in the world coordinates are obtained. In this example, the coordinates are in millimeters (mm).
Setting a specific position, firstly, shooting in a fixed shooting mode, shooting by a camera at the preset specific position and a fixed feature (namely a shot object) to be shot relatively still, recording a camera coordinate system of the fixed feature in the camera, and converting the camera coordinate system into world coordinates. Namely, shooting the fixed feature in a fixed shooting mode, and acquiring the accurate position information of the fixed feature. After the fixed shooting mode is completed, under the condition that the camera and the shot object relatively move, the camera shoots the same fixed feature in the same specific position by adopting a flying shooting mode, records a camera coordinate system of the fixed feature in the flying shooting mode, and converts the camera coordinate system into a world coordinate system>According to a world coordinate system obtained after the same fixed feature is shot at the same calibration position in a fixed shooting mode and a flying shooting mode, calculating a first offset delta P= = -in the fixed shooting mode and the flying shooting mode>The first offset is that is, the measured distance error generated in the fly-swatting mode, and the delay time t is obtained by dividing the distance deltap by the fly-swatting speed.
Specific embodiments of this scheme are further described below in conjunction with the examples.
The object or the fixed feature to be photographed in this embodiment is a movement axis, a robot, or the like, and is not limited herein. Setting a specific bit(100 ) is the shooting position shot in the shooting mode, and the glue dispensing head, the moving shaft or the manipulator is moved to the shooting position
（100，100）。
The following objects to be photographed will be described by taking a dispensing head as an example.
Firstly, shooting in a fixed shooting mode, grabbing fixed features on a dispensing head to be shot when the dispensing head passes through a specific position and is static and motionless by using a camera, recording camera coordinates of the fixed features on the dispensing head and converting the camera coordinates into world coordinatesThrough the mapping relation between the camera coordinates and the world coordinates, the world coordinates are +.>Is (101, 100).
Grabbing the fixed feature in a fly-swatter mode, wherein the fly-swatter speed of the fixed feature on the dispensing head relative to the movement of the cameraIs set to be 0.1m/s, and acceleration in the process of accelerating the flying speed of the front section of the operation of the dispensing head is +.>Is 10m/s 2 The flying speed at the running end of the dispensing head is decelerated and accelerated +.>Is-10 m/s 2 。
In order to make the dispensing head move at a uniform speed in the shooting process of the flying-shooting point camera, the minimum distance between the flying-shooting starting point and the flying-shooting end point and the flying-shooting point needs to be calculated in advance, and the dispensing head and the camera need to be arranged at proper positions.
Calculating the minimum distance D1 of the flying start point of the dispensing head from the flying start pointWherein V is 1 Represents the speed of the dispensing head when passing through the position of the flying shooting point, a 1 Representing acceleration during acceleration, the velocity V 1 And acceleration a 1 Substituting the formula yields d1=0.0005 m=0.5 mm.
Calculating the minimum distance between the flying end point of the dispensing head and the flying pointWherein V is 1 Represents the speed of the dispensing head when passing through the position of the flying shooting point, a 2 Representing acceleration during acceleration, the velocity V 1 And acceleration a 2 Substitution intoFormula d2=0.0005 m=0.5 mm. Therefore, in order to ensure a uniform velocity when the dispensing head passes through the fly-swath position, it is required that the distance between the fly-swath start point and the fly-swath end point be greater than 0.5mm.
Setting a fly-swatter direction unit vectorIn this embodiment, the starting point of the dispensing head is set to be (1, 0), and an arbitrary length D3 is set to satisfy D3>D2, at the same time D3>D1. In this embodiment, D3 is 10mm, and the start point of the fly is the sameFor (90, 100), fly-swatter endpoint +.>Is (110, 100). Wherein D3 represents the distance the camera moves, and the set value is set to satisfy that the dispensing head operates within a safe range.
Setting parameters to run the fly swatter to obtain characteristic points and converting the characteristic points into world coordinatesIs (100.8, 100). Calculate the fly-swatter delay time t = = ->=2 ms. The optimal selection is to measure the time delay time for multiple times through multiple calibration, calculate the average value of the time delay time according to the time delay time for multiple times, and more accurately improve the fly shooting positioning precision.
And acquiring the time delay time in the fly shooting mode and the fixed shooting mode through a calibration mode. The delay time is obtained by the method, namely, the offset relative to the accurate position in other fly-swatting modes can be calculated through the delay time, and the position of the fixed feature in the fly-swatting mode is compensated after the offset is obtained, so that a more accurate fly-swatting result is obtained.
As shown in fig. 2, in this embodiment, taking the example of the fly-swath guiding dispensing for illustration, the fly-swath compensation of the present invention includes the following steps: in this embodiment, the guiding of dispensing of the glue valve requires calibration of the glue valve, and the coordinate relationship between the glue valve and the camera is obtained.
In the present embodiment, it is assumed that three feature points distributed in the lateral direction need to be positioned to guide dispensing. Assume that the fly-swatter positions of the three feature points are respectively set as。
Current flyswath point position flyswath motion direction vectorThe unit vector is->Setting the motion speed of the current fly swatter>Acceleration of 0.2m/s +.>Is 10m/s 2 Acceleration->Is-10 m/s 2 。
Calculating the minimum distance between the fly-swatter starting point and the fly-swatter pointCalculating the minimum distance +.about.of the fly-swatter end point from the fly-swatter point>. Properly amplifying the idle running distance, setting the starting point of the flyswath as (40, 100), the finishing point of the flyswath as (80, 100), running the flyswath instruction, and obtaining three feature point world coordinates as +_x by mapping a camera coordinate system and a world coordinate system>。
In the fly-swatting mode, there are two cases, the first case, the camera moves the shot object and moves, the second case, the shot object moves, the camera does not move, the compensation value of the fly-swatting result is obtained based on the fly-swatting time delay obtained in the fly-swatting calibration process, and the accurate position of each feature point is further calculated based on the coordinates of the feature point obtained in the fly-swatting mode.
When the camera moves the shot object and does not move, the coordinate value compensated by the corresponding feature point flying shooting result isThereby calculating the corresponding position of each characteristic point +.>The coordinates after compensation are (49.9, 100), (59.8, 100), (70, 100), respectively.
When the camera is not moving the shot object, the position corresponding to the feature point in the fly shooting modeThe coordinate value of the characteristic point after the fly-swatting result compensation is +.>. Calculating to obtain the coordinates of each characteristic pointThe compensated coordinates are (49.1, 100), (59, 100), (69.2, 100), respectively.
The coordinates of the dispensing valve can be obtained according to the coordinate conversion relation of the dispensing valve and the camera, so that the dispensing can be guided, the dispensing operation of the dispensing head can be ensured to be more accurate, and the positioning precision of the dispensing head can be improved.
Other visual guidance types are similar in application, calibration of the guidance object and the camera is needed to be made in advance, and if the guidance welding is conducted, coordinates corresponding to the welding gun are obtained according to the coordinate conversion relation between the welding gun and the camera for guidance. And if the guiding and mounting are performed, acquiring coordinates corresponding to the suction nozzle or the gripper according to the coordinate conversion relation between the suction nozzle or the gripper and the camera for guiding. And if the screw is guided and locked, acquiring corresponding coordinates of the screw machine according to the coordinate conversion relation of the screw machine and the camera for guiding.
The invention has the advantages compared with the prior art that:
1. when the low-speed hardware in the prior art performs fly-swatter positioning, vision positioning errors are avoided through delay calculation and compensation, and fly-swatter positioning accuracy is improved;
2. for the fly-swatter positioning of high-speed hardware, the fly-swatter positioning precision is improved as much as possible through delay compensation while the hardware cost is reduced.
Unless specifically stated otherwise, the appearances of the phrase "first," "second," or the like herein are not meant to be limiting as to time sequence, number, or importance, but are merely for distinguishing one technical feature from another in the present specification. Likewise, the appearances of the phrase "a" or "an" in this document are not meant to be limiting, but rather describing features that have not been apparent from the foregoing. Likewise, modifiers similar to "about" and "approximately" appearing before a number in this document generally include the number, and their specific meaning should be understood in conjunction with the context. Likewise, unless a particular quantity of a noun is to be construed as encompassing both the singular and the plural, both the singular and the plural may be included in this disclosure.
The preferred embodiments of the present invention have been described in the specification, and the above embodiments are merely for illustrating the technical solution of the present invention and not for limiting the present invention. All technical solutions that can be obtained by logic analysis, reasoning or limited experiments according to the inventive concept by those skilled in the art shall be within the scope of the present invention.
Claims (9)
1. The method for improving the fly-swatter positioning precision is characterized by comprising the following steps of:
step S1, completing hand-eye calibration on photographing equipment, completing coordinate transformation between a photographing equipment coordinate system and a world coordinate system, and setting a standard position P of a movable shaft to be subjected to flying shooting;
step S2, the photographing equipment photographs the fixed features in a fixed photographing mode, and converts the photographing equipment coordinate system of the fixed features into a world coordinate system
Step S3, shooting the fixed features at the same position of the fixed shooting in step S2 by the shooting equipment in a flying shooting mode, and converting a shooting equipment coordinate system of the fixed features obtained by flying shooting into a world coordinate system
Step S4, setting the relative fly-swatter speed between the photographing device and the photographed object as V 1 Calculating a fly-swatting delay time t according to the world coordinate system of the fixed feature acquired by the fixed swatting in the step S2, the world coordinate system of the fixed feature acquired by the fly-swatting in the step S3 and the fly-swatting speed;
s5, performing fly-swatter compensation calculation on the fixed characteristic, wherein the second fly-swatter speed of the fixed characteristic is V 3 The fly-swatter point position motion unit vector isObtaining the world coordinate System of the fixed feature at the second fly-swatter speed +.>Compensating the coordinate system of the fixed feature according to the delay time t in the step S4, wherein the compensated second deviation value is +.>
2. The method of claim 1, wherein the aerial photography includes two modes, a photographing device moving a photographed object stationary and a photographing device moving a photographed object stationary.
3. The method for improving positioning accuracy of a fly-swatter according to claim 1, wherein the first offset is obtained according to the world coordinate system of the fixed feature in the fixed swatter mode and the world coordinate system of the fixed feature in the fly swatter mode obtained in step S2 and step S3, respectively
4. A method of improving accuracy of position determination of a fly-swatter as claimed in claim 3 wherein the fly-swatter delay time is in accordance with the first offsetAnd the fly-swatter speed V 1 Obtaining said fly-swatter delay time +.>
5. The method for improving the positioning accuracy of the fly-swatter according to claim 2, wherein the coordinate system after the fixed feature at the second fly-swatter speed is compensated when the photographing apparatus moves the photographed object to be stationary is:
6. the method for improving the positioning accuracy of the fly-swatter according to claim 2, wherein the coordinate system after the fixed feature point at the second fly-swatter speed is compensated when the photographing apparatus is moving with the object to be photographed still is:
7. a method of improving accuracy of fly-swatting positioning according to claim 5 or 6, wherein the movement of the subject is guided according to the compensated coordinate system.
8. The method for improving the positioning accuracy of a fly-swatter of claim 7, wherein the object to be photographed is a dispensing head, a robot or a guide shaft.
9. The method for improving the positioning accuracy of the fly-swatter according to claim 1, wherein the delay time is calculated repeatedly by calibrating a plurality of times, and an average value of the delay time is calculated according to the delay time obtained a plurality of times.
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