41results about How to "Flexible calibration" patented technology

The invention relates to an industrial robot kinematics calibration system. The industrial robot kinematics calibration system comprises a measuring device arranged at the tail end of a robot and further comprises a calibration device and a data processing device which are arranged in the robot work space. According to the device, cost is reduced, carrying and using are convenient, and the devicecan be applied to online rapid calibration of a robot on the work site. A measuring coordinate system is established on the measuring device, and the robot is calibrated; and through a method, calibration of robot body geometric parameter errors, and the conversion relation among a robot coordinate system, the measuring coordinate system and a calibration coordinate system can be achieved at the same time.

The invention discloses a binocular visual multi-line projection structured light calibration method. The method comprises the following steps that 1) the sequence numbers of light stripes are determined; 2) left and right cameras collect a lattice image, four corners of a lattice are clicked, initial estimated positions of other intersection points in the lattice are obtained, and sub-pixel coordinates of intersection points are obtained by using an Ostu threshold method and a gray scale weighted average method in a k*k neighborhood of the initial estimated positions of intersection points; 3) 3D coordinates of the intersection points are obtained; and 4) the steps 1-3 are repeated, the 3D coordinates of the intersection points obtained in multiple times are classified according to the sequence numbers of the light stripes, for all points belonging to the same structured light plane, a least square method is used to carry out planar fitting on the 3D coordinates of the intersection points belongs to the same structured light to obtain a plane equation, and calibration is not completed until all the structured light planes are in the planar equation of the system coordinate system. The method has the advantages that a calibration board has no requirements for planarization, manufacture is simple, calibration is flexible, no auxiliary equipment is needed, the method is suitable for onsite calibration and the versatility is high.

The embodiment of the invention provides a serial robot kinematic calibration method and system. The method comprises the steps of S1, establishing a geometrical parameter error model based on the relationship of two adjacent connecting rods of a serial robot; S2, establishing a parameter identification model according to the difference of the nominal value and the actual value of relative displacement between measuring points of tail end positions of the robot under two different postures; S3, measuring relative displacement between a plurality of sets of measuring points and conducting identification on the geometrical parameter error of the robot to obtain a corrected geometrical parameter; and S4, compensating for the errors of the tail end positions of the robot according to the corrected geometrical parameter and on the basis of an absolute increment control method to improve the absolute positioning accuracy. Through the technical scheme, the calibration time can be saved, and the calibration process is more flexible. The kinematic parameters are accurately identified by establishing the parameter identification model, and through cooperation with the error compensation algorithm, the trajectory planning accuracy is improved.

The invention discloses a multipath fisheye camera calibration device and method, and belongs to the technical field of camera calibration. The method comprises the following steps of: acquiring calibration plate images at different positions in a calibration target by adoption of each path of fisheye camera of a panorama camera module; selecting an isometric projection distortion model; respectively calculating intrinsic parameters of lenses and extrinsic parameters of each field of view according to acquired fisheye lens images and an imaging model; carrying out nonlinear optimization on the obtained intrinsic and extrinsic parameters so as to obtain optimum lens intrinsic and extrinsic parameters M, K, R and T. According to the method, calibration image acquisition is carried out on the calibration plate in a new folding calibration target, so that the requirement for the sizes of calibration areas is reduced, enough characteristic points can be found and the complexity of al algorithm is lightened; and moreover, the calibration plate image acquisition is more flexible, and images of each area in a visual range of the lenses can be acquired, so that the camera calibration precision is greatly improved.

The invention provides a space analytic geometry-based line-scan camera calibration method and belongs to the line-scan CCD camera calibration field. The space analytic geometry-based line-scan camera calibration method is especially suitable for fast, accurate and flexible calibration of line-scan cameras. According to the calibration method, a new target is designed, and space analysis geometrical relationships are utilized, and the parameters of a line-scan camera can be obtained based on a vector method, and therefore, rapid calibration of the camera can be realized. With the method adopted, calibration accuracy can be ensured without making a precise target required, and the target is not required to move precisely according to a prescribed direction; and the plane of the target and the plane of the camera are not required to be parallel to each other, and therefore, the arrangement position and attitude of the camera can be arbitrary, and the flexibility of the calibration of the line-scan camera can be effectively improved. The space analytic geometry-based line-scan camera calibration method of the invention has the advantages of fast calibration speed, high accuracy, flexible operation and the like. With the space analytic geometry-based line-scan camera calibration method adopted, a precise target is not required to be produced, and fast calibration of the line-scan camera under harsh environment conditions can be realized.

The invention discloses a method for calibrating the sensitivity of a low-frequency multi-axis accelerometer based on monocular vision. The method comprises the steps of: using a camera to collect a feature mark motion sequence image with the same displacement as the low-frequency multi-axis accelerometer, and measuring the displacement of a feature mark based on a monocular vision method; obtaining an excitation acceleration of the low-frequency multi-axis accelerometer through the measured displacement of the feature mark, and collecting an output voltage signal of the low-frequency multi-axis accelerometer; then realizing the spatial domain alignment of an excitation acceleration signal and an output signal of the low-frequency multi-axis accelerometer based on the space-time synchronization technology; and finally realizing the sensitivity amplitude and phase calibration of the low-frequency multi-axis accelerometer based on a sensitivity matrix. Compared with the existing calibration methods, the method has the advantages of avoiding repeated installation, improving the calibration efficiency, and achieving the calibration of the low-frequency multi-axis accelerometer within awide frequency range on the premise of ensuring the calibration accuracy.

The invention provides a separate target position test device which comprises a line laser emitting device, a first line laser reflecting device, a second line laser reflecting device, a photoelectricdetection receiving device, a linear array CCD device and an intelligent signal collector, wherein the linear array CCD device is arranged at the center of a connecting line of the line laser emitting device and the first line laser reflecting device. Four detection light curtains are formed through the line laser emitting device, the first line laser reflecting device, the second line laser reflecting device, the photoelectric detection receiving device and the linear array CCD device. The test device provided by the invention overcomes the defects that a conventional integrated structure iscarried unfavorably, cannot move if being calibrated and cannot measure simultaneous landing of a plurality of targets, saves the cost, and is convenient to carry and flexible to calibrate. Meanwhile, the test device can measure the position coordinates of the targets which are landed simultaneously.

The invention is suitable for the technical field of hydromechanics, and provides a space calibration method and device, electronic equipment and a storage medium. The space calibration method comprises the steps of obtaining at least two set images, wherein the plane where the calibration plate is located when the calibration plate is shot in at least one set image coincides with the first to-be-calibrated cross section of the set space; determining a first mapping relationship corresponding to each set image in the at least two set images, wherein the first mapping relationship represents amapping relationship between a pixel coordinate system and a first world coordinate system, wherein the first world coordinate system is established based on the plane where the calibration plate is located when the calibration plate is shot in the corresponding set image; determining a calibration result based on a first mapping relationship corresponding to each set image in the at least two setimages, wherein the calibration result comprises at least two second mapping relationships, wherein the second mapping relationship represents a mapping relationship between the pixel coordinate system and a second world coordinate system, and wherein the second world coordinate system is established based on a plane where the corresponding to-be-calibrated section is located.

The invention discloses an R-test precision ball head detection device, which comprises a five-dimensional manual sliding table, an R-test ball head and a mounting seat, wherein the mounting seat is provided with three mounting surfaces for mounting sensors, and a reference surface A and a reference surface B for calibration, the mounting seat is fixedly mounted on the top surface of the five-dimensional manual sliding table, displacement sensors are fixedly mounted on the mounting surfaces of the mounting seat, the extension lines of the three displacement sensors are orthogonal to a point P,and the center of sphere of the R-test ball head is located at the point P. According to the invention, by arranging the mounting seat with the reference surface A and the reference surface B, afterthe sensor is mounted, the detection device can be calibrated, so that the positioning error when the R-test detection device is mounted and positioned on the workbench of the processing machine toolis reduced, the detection result of the volume error is accurate and reliable, and the direction vector of the axis of the R-test sensor can be directly obtained so as to simplify the conversion method of the subsequent volume error in each coordinate system and provide convenience for geometric error identification.

The invention discloses a robot space positioning and grabbing control method based on template matching. The method comprises the steps that multiple calibration plate images and corresponding robot tail end pose information are collected, and a visual positioning control system is calibrated; a special identification image is collected to create a to-be-matched template; a relative pose between a grabbing position and a special identifier is calculated; a robot vision positioning control system processes the collected material image; and the robot obtains a relative pose according to a pose vector of the special identifier under a robot coordinate system and a pose of the tail end of the robot during teaching grabbing, and space positioning and grabbing of a material is achieved. According to the method, accurate positioning and grabbing under the condition that the material has height deviation and inclination can be achieved, the problem of space uncertainty such as inclination and rotation of the material in the grabbing process is solved, and the method has the advantages of being flexible in calibration and small in calibration frequency.

The invention relates to a calibration method of a three-dimensional electronic compass, comprising the following steps: performing 8-shaped moving in the space on the electronic compass, collecting data read out by three axes of a magnetic sensor; then performing ellipsoidal fitting on the collected data to obtain an ellipsoidal equation and a spherical center coordinate; respectively projectingthe obtained ellipsoidal equation to three coordinate axis planes, and respectively solving parameters of the ellipses on the three planes: a, b, a long axis rotational angle; and finally performing calibrating on the newly obtained data according to the obtained parameters. According to the calibration method of the three-dimensional electronic compass, the electronic compass is more flexible inthe calibration process, higher in accuracy, and meets the requirement of field activities.

The invention discloses a flexible calibration method for binocular vision system based on one-dimensional coding target, and the method comprises the following steps: (1) processing an annular coding mark point on a one-dimensional target to form a one-dimensional coding target, randomly placing the one-dimensional coding target in a binocular system view field, and obtaining a plurality of images; (2) carrying out decoding and sub-pixel accurate positioning on the coded mark point image; (3) estimating an essential matrix of the binocular vision system by using a weighted translation normalization algorithm; and (4) optimizing and calculating internal and external parameter matrixes of the binocular vision system. According to the method, the coding mark points and the simply calibrated one-dimensional target are fused to replace traditional circular mark points, so that the recognition precision and the universality and flexibility of a matching algorithm are improved; and meanwhile, an essential matrix is estimated by using a weighted translation normalization algorithm, so that the interference of noise is eliminated, and the matching precision is further improved.

The invention discloses an engine oil level gauge calibration platform with a two-dimensional adjusting function. The calibration platform comprises a first base supported on the ground and a first tray hinged to the first base, wherein the first tray is driven by a first driving mechanism to swing in a vertical plane; a second base is fixedly connected onto the first tray, and a second tray for installing an engine is hinged to the second base and capable of swinging in a vertical plane; the axis of a first hinged shaft is parallel to the plane where the first tray is located, the axis of a second hinged shaft is parallel to the plane where the second tray is located, and projections of the first hinged shaft and the second hinged shaft on a horizontal plane are perpendicular to each other; and angle gauges are installed on the second tray and the second base respectively. Therefore, with the adoption of the engine oil level gauge calibration platform with the two-dimensional adjusting function, when oil level gauge calibration is performed on the engine, two-dimensional inclination angle adjustment is realized simply and accurately, so that the posture positioning accuracy of the engine is improved, and the operating difficulty is reduced.

The invention discloses a fully automatic calibrator, which comprises a meter, a standard source and an RS-485 bus, and the meter is connected with the standard source through the RS-485 bus. The invention also discloses a calibration method for a fully automatic calibrator, which includes the following steps: (a) enter calibration: the instrument enters the calibration state by operating the instrument, and the subsequent steps are all completed automatically; (b) sending commands: the instrument sends commands Let the standard source output a signal; (c) Wait for stability: the meter sends a judgment command to judge whether the output of the standard source is stable; (d) Calibrate: the meter starts to calibrate; (e) Repeat steps (b) to (d) until all points are calibrated; (f) Exit Calibration: Exit the instrument calibration state. The advantages of the present invention are: using the communication of the instrument and cooperating with the protocol of the standard source, the instrument is used as the master and the slave standard source is controlled, so as to achieve a fully automatic calibration process, simplify the instrument calibration process, and make the instrument calibration more flexible, which is beneficial The product reduces the input of personnel and equipment in the production process.

The invention provides a pressure transmitter with an adjustable pressure sensor. The pressure transmitter comprises a gauge head and a pressure joint. A joint pipe is arranged at the bottom of the gauge head; the pressure joint comprises a connecting sleeve, a pressure sensor, a sensor pressing sleeve and a transition sleeve; a cavity and a fluid pipeline are arranged in the connecting sleeve; the pressure sensor is arranged in the cavity; the sensor pressing sleeve is in threaded connection in the cavity; the fluid pipeline extends to the cavity from the end of the connecting sleeve; the connecting sleeve is in threaded connection in the transition sleeve; and the transition sleeve is fixedly installed in the joint pipe. The pressure transmitter with the adjustable pressure sensor can flexibly achieve the adjustment and calibration of the pressure sensor.

The invention provides a pressure sensor calibration device. The pressure sensor calibration device comprises a stepping motor, a transmission nut, a nut limiting plate, a transmission screw, a cylinder cover, a screw limiting plate, a piston, a gas circuit connector, an oil return tank, a vacuum pump, an oil circuit connector, an oil tank, a pressure sensor, a cavity, a control box, a sealing valve and the like. According to the device, the control box is used for controlling the stepping motor to work to drive the screw to rotate, and then the piston is telescopically controlled by the screwto compress the hydraulic oil to generate the pressure signals with different frequencies, amplitudes or pulse widths. The pressure signal is wide in to-be-measured parameter change range and controllable in change speed, is suitable for the calibration of the pressure sensor, and has practicability. The pressure sensor calibration device is simple in design, simple and feasible in operation process and more accurate in calibration result, is capable of solving the problem that an existing pressure sensor calibration device is too large in size and is not easy to move, and is more suitable for the pressure sensor calibration in actual experiment places.

The invention discloses an integral time adaptive adjustment method of a TOF module, which is used for adaptively adjusting integral time of the TOF module in different working environments. The method comprises the following steps: in combination with preset calibration information and a current exposure environment, the TOF module adaptively adjusts the integral time, wherein the preset calibration information is information acquired by calibration based on a pre-selected sampling area when the TOF module is set in a standard test environment, and the pre-selected sampling area is a limitedarea selected from the infrared light intensity image in advance. The invention further discloses a TOF control system for adaptively adjusting the integral time. According to the method and the system, the integral time when the exposure effect is optimal can be adaptively adjusted according to the actual working environment of the TOF module, so that high-quality depth data is obtained, the flexibility is relatively high, and the problem of overexposure or underexposure of depth image information obtained in the prior art is solved.