CN206271051U - A kind of hand and eye calibrating panel assembly and vision positioning system - Google Patents
A kind of hand and eye calibrating panel assembly and vision positioning system Download PDFInfo
- Publication number
- CN206271051U CN206271051U CN201621263967.XU CN201621263967U CN206271051U CN 206271051 U CN206271051 U CN 206271051U CN 201621263967 U CN201621263967 U CN 201621263967U CN 206271051 U CN206271051 U CN 206271051U
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- Prior art keywords
- color spot
- color
- hand
- substrate
- panel assembly
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Abstract
The utility model discloses a kind of hand and eye calibrating panel assembly, including：The substrate of horizontal positioned, with the upper and lower surface being parallel to each other；Several circular size identicals first demarcate color spot, are arranged on upper surface of base plate, and each first demarcates color spot arranges that wherein M and N is the integer not less than 3 with the rectangular arrays of M × N；Several circular size identicals second demarcate color spot, are arranged on base lower surface, and each first lower section for demarcating color spot sets one second demarcation color spot to the heart, and it is identical that the first demarcation color spot demarcates color spot size with second.The utility model need not obtain the world coordinates of the circular index point on scaling board by robot controller teaching, reduce manual operation, it is possible to increase precision, more automatic, the more efficient hand and eye calibrating for completing mobile camera in Robot visual location system.The utility model can be applied to computer vision demarcation.
Description
Technical field
The utility model is related to computer vision field, more particularly to a kind of hand and eye calibrating panel assembly and vision positioning system
System.
Background technology
Typically can all there are two cameras in existing Robot visual location system, the camera 5 ' in such as Fig. 1 and camera 6 ',
, for calibration device, camera 6 ' is for completing robotic vision positioning for camera 5 '.Camera 5 ' is usually that fixed can using is passed
The camera marking method of system is demarcated, and camera 6 ' is usually to carry out trick mark the need for movement with robot motion
It is fixed.
Camera 5 ' and camera 6 ' are separate demarcation during above-mentioned Robot visual location system calibrating, without fine
The relation of two cameras of combination go to reduce unnecessary work.
Utility model content
In order to solve the above problems, the purpose of this utility model is to provide a kind of efficient hand and eye calibrating panel assembly.
The technical scheme that the utility model is used is：
A kind of hand and eye calibrating panel assembly, including：
The substrate of horizontal positioned, with the upper and lower surface being parallel to each other；
Several circular size identicals first demarcate color spot, are arranged on upper surface of base plate, and each first demarcates color spot with M
The rectangular array arrangements of × N, wherein M and N is the integer not less than 3；
Several circular size identicals second demarcate color spot, are arranged on base lower surface, each first demarcation color spot
Lower section to the heart set one second demarcation color spot, it is described first demarcate color spot with second demarcation color spot size it is identical.
Used as further improvement of the utility model, the substrate thickness is 2~4cm.
Used as further improvement of the utility model, described first demarcates the color of color spot and first demarcates color spot adjacent region
The color in domain forms aberration.
Used as further improvement of the utility model, the first demarcation color spot is formed with the first demarcation color spot adjacent area
Black and white aberration.
Used as further improvement of the utility model, described second demarcates the color of color spot and second demarcates color spot adjacent region
The color in domain forms aberration.
Used as further improvement of the utility model, the second demarcation color spot is formed with the second demarcation color spot adjacent area
Black and white aberration.
As further improvement of the utility model, lowering or hoisting gear is connected on the substrate.
The utility model also provides a kind of vision positioning system, and its technical scheme for using is：
A kind of vision positioning system, including above-mentioned hand and eye calibrating panel assembly, are provided with shooting all first above substrate
The mobile camera of color spot is demarcated, is provided with below substrate and is shot all second fixed cameras for demarcating color spots, mobile camera and solid
Determine camera to be electrical connected with outside host computer.
The beneficial effects of the utility model are：The utility model is provided with equal in magnitude on the upper and lower surface of substrate to the heart
First demarcation color spot and second demarcate color spot, by fixed camera obtain second demarcate color spot and first demarcate color spot the world
Coordinate, the demarcation for moving camera, it is not necessary to which the circular index point on scaling board is obtained by robot controller teaching
World coordinates, reduces manual operation, it is possible to increase precision, more automatic, shifting in more efficient completion Robot visual location system
The hand and eye calibrating of dynamic camera.
Brief description of the drawings
The utility model is further illustrated with implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the schematic diagram of traditional chiral phosphines alignment system；
Fig. 2 is the schematic diagram for demarcating panel assembly；
Fig. 3 is the schematic diagram of the utility model vision positioning system.
Specific embodiment
Hand and eye calibrating panel assembly as shown in Figure 2, including one piece of substrate of horizontal positioned 1, this has and is parallel to each other substantially
Upper and lower surface.
The upper surface of substrate 1 is provided with the first demarcation color spot 2 of several circular solids, each first demarcation color spot 2
Size it is identical, each first demarcates color spot 2 is arranged with M × N in the rectangular array in upper surface, and wherein M and N is not less than 3
Integer.M and N are 3 in the embodiment of diagram, so as to be formed by 9 first squares for demarcating the nine grids shape that color spot 2 is constituted
Shape array, this 3 × 3 rectangular array is more commonly used in laboratory and factory's occasion；In fact, using 3 × 4 or 3 × 5 etc.
The rectangular array arrangement of other numbers disclosure satisfy that the requirement of demarcation.
The lower surface of substrate 1 is provided with the second demarcation color spot 3 of several circular solids, each second demarcation color spot 3
Size it is identical, each first demarcate color spot 2 lower section to the heart set one second demarcation color spot 3, will the center of circle it is relative
The line that first demarcation color spot 2 and second demarcates the center of circle of color spot 3 is the vertical line segment perpendicular to horizontal plane.In addition, first demarcates
Color spot 2 is identical with the second demarcation size of color spot 3, and the first relative demarcation color spot 2 and second of the center of circle demarcates color spot 3 in the horizontal plane
Projection overlap.
Vision positioning system based on above-mentioned demarcation panel assembly as shown in figure 3, it includes above-mentioned hand and eye calibrating panel assembly,
In combination with Fig. 2, the top of substrate 1 is provided with and shoots all first mobile cameras 5 for demarcating color spot 2, and the lower section of substrate 1 is provided with bat
Take the photograph all second fixed cameras 6 for demarcating color spots 3, mobile camera 5 and fixed camera 6 with and outside (not shown) host computer
It is electrical connected.
The implementation steps of the vision positioning system are as follows：
Step 1, by demarcate panel assembly be put between mobile camera 5 and fixed camera 6, two cameras is clearly clapped
Take the photograph substrate 1.Fixed camera 6 can clearly photograph the second demarcation color spot 3 of the lower surface of substrate 1, and mobile camera 5 can shoot
To the upper surface of substrate 1 first demarcates color spot 2.
Step 2, camera calibration is completed to fixed camera 6, obtain the conversion of the image coordinate of fixed camera 6 and world coordinates
Relation；By this transformational relation, 9 second world coordinates for demarcating the color spot center of circle can be obtained.Its concrete principle is to pass through
Image processing algorithm obtains the second image coordinate for demarcating color spot, and can obtain second by means of transformational relation demarcates the color spot center of circle
World coordinates.
Step 3, due to substantially, lower surface first demarcation color spot 2 and second demarcate color spot 3 correspond and with phase
With size and to the heart overlap, after the thickness of substrate 1 is measured.The second demarcation color spot center of circle that can be obtained by step 2
World coordinates, obtains the first world coordinates for demarcating the color spot center of circle.The step for can reduce and artificially obtained by robot teaching
Position data is obtained, it is more automatic and accurate.
Step 4, after the first world coordinates for demarcating color spot 2 is obtained, it is possible to start to carry out trick mark to mobile camera 5
It is fixed.Mechanical arm 7 drives mobile camera 5 to shoot substrate 1, and the first figure for demarcating color spot 2 is obtained by image processing algorithm
As coordinate.After image coordinate and world coordinates is obtained, can just complete to move the trick of camera 5 according to the method for hand and eye calibrating
Demarcate.
Above-mentioned data processing, image procossing can by and host computer (not shown) carries out calculating treatment.
It is excellent that above-mentioned vision positioning system and implementation step method is equally applicable to demarcation panel assembly discussed below
The embodiment of choosing.
Preferably, the thickness of substrate 1 is 2~4cm, to reduce error.The length of substrate 1 and size wide are by actually used situation
Determine.
It is further preferred that first demarcates the color of color spot 2 and the color formation color of the first demarcation adjacent area of color spot 2
Difference, due to the aberration of formation this described, mobile camera 5 being capable of the gem-pure ambient zone that color spot 2 and outside are demarcated first
Separate, to obtain good imaging effect.The above-mentioned first demarcation adjacent area of color spot 2 can be regarded as the upper surface of substrate 1
Color.
Best situation is that first demarcates color spot 2 and first demarcates the adjacent area of color spot 2 formation black and white aberration.Such as
One demarcates color spot 2 for black, and the first demarcation color spot 2 adjacent area is white；Or first to demarcate color spot 2 be white, and the
One demarcates the adjacent area of color spot 2 for black.
Likewise, second demarcates the color of color spot 3 and the color formation aberration of the second demarcation adjacent area of color spot 3.Due to
The aberration of the formation, fixed camera 6 gem-pure can make a distinction the second demarcation color spot 3 and the environment of outside,
To obtain good imaging effect.The above-mentioned second demarcation adjacent area of color spot 3 can be regarded as the color of the lower surface of substrate 1.
Best situation is that second demarcates color spot 3 and second demarcates the adjacent area of color spot 3 formation black and white aberration.Such as
Two demarcate color spot 3 for black, and the second demarcation color spot 3 adjacent area is white；Or second to demarcate color spot 3 be white, and the
Two demarcate the adjacent area of color spot 3 for black.
In general, substrate 1 is solid color, i.e., in order to preferably make demarcation panel assembly, substrate 1 is generally white,
And above-mentioned two kinds demarcate color spot and are black.
On the basis of above-described embodiment, with reference to Fig. 2, the bottom of substrate 1 is further connected with lowering or hoisting gear 4.The lowering or hoisting gear 4 can be with
To be connected to 1 four lifting landing legs of end Angle Position of substrate.The height of substrate 1 is adjusted by lifting landing leg so that when demarcation,
The upper and lower surface of substrate 1 can fall into the areas imaging of mobile camera 5 and fixed camera 6.
The above be the utility model preferred embodiment, it is not constituted to the utility model protection domain
Limitation.
Claims (8)
1. a kind of hand and eye calibrating panel assembly, it is characterised in that including：
The substrate (1) of horizontal positioned, with the upper and lower surface being parallel to each other；
Several circular size identicals first demarcate color spot (2), are arranged on substrate (1) upper surface, and each first demarcates color spot
(2) arrange that wherein M and N is the integer not less than 3 with the rectangular arrays of M × N；
Several circular size identicals second demarcate color spot (3), are arranged on substrate (1) lower surface, each first demarcation color
The lower section of spot (2) sets one second to the heart and demarcates color spot (3), and described first demarcates color spot (2) demarcates color spot (3) with second
Size is identical.
2. hand and eye calibrating panel assembly according to claim 1, it is characterised in that：Substrate (1) thickness is 2~4cm.
3. hand and eye calibrating panel assembly according to claim 1, it is characterised in that：Described first color for demarcating color spot (2)
The color for demarcating color spot (2) adjacent area with first forms aberration.
4. hand and eye calibrating panel assembly according to claim 3, it is characterised in that：Described first demarcates color spot (2) and first
Demarcate color spot (2) adjacent area and form black and white aberration.
5. hand and eye calibrating panel assembly according to claim 1, it is characterised in that：Described second color for demarcating color spot (3)
The color for demarcating color spot (3) adjacent area with second forms aberration.
6. hand and eye calibrating panel assembly according to claim 5, it is characterised in that：Described second demarcates color spot (3) and second
Demarcate color spot (3) adjacent area and form black and white aberration.
7. hand and eye calibrating panel assembly according to any one of claim 1 to 6, it is characterised in that：Connect on the substrate (1)
There is lowering or hoisting gear (4).
8. a kind of vision positioning system, it is characterised in that：Including the hand and eye calibrating plate dress any one of claim 1 to 7
Put, be provided with above substrate (1) and shoot all first mobile cameras (5) for demarcating color spot (2), substrate is provided with bat below (1)
Take the photograph all second fixed cameras (6) for demarcating color spot (3), mobile camera (5) and fixed camera (6) with the upper electromechanics of outside
Property be connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621263967.XU CN206271051U (en) | 2016-11-21 | 2016-11-21 | A kind of hand and eye calibrating panel assembly and vision positioning system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621263967.XU CN206271051U (en) | 2016-11-21 | 2016-11-21 | A kind of hand and eye calibrating panel assembly and vision positioning system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206271051U true CN206271051U (en) | 2017-06-20 |
Family
ID=59041097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621263967.XU Expired - Fee Related CN206271051U (en) | 2016-11-21 | 2016-11-21 | A kind of hand and eye calibrating panel assembly and vision positioning system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206271051U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942934A (en) * | 2018-07-23 | 2018-12-07 | 珠海格力电器股份有限公司 | Determine the method and device of hand and eye calibrating |
| CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
-
2016
- 2016-11-21 CN CN201621263967.XU patent/CN206271051U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942934A (en) * | 2018-07-23 | 2018-12-07 | 珠海格力电器股份有限公司 | Determine the method and device of hand and eye calibrating |
| CN110328666A (en) * | 2019-07-16 | 2019-10-15 | 汕头大学 | Identifying system and material mechanism for picking |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170620 Termination date: 20171121 |
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| CF01 | Termination of patent right due to non-payment of annual fee |