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444results about How to "Improve calibration efficiency" patented technology

Vector-relation-based method for calibrating single-line laser radar and CCD camera

The invention relates to a vector-relation-based method for calibrating single-line laser radar and a CCD camera. Point set information of the laser radar for scanning a V-shaped target is extracted in a laser coordinate system, and direction vectors and intersection coordinates of straight lines in two different planes of the target are obtained by means of straight line fitting; the CCD camera is used for capturing images in a camera coordinate system, target plane equations and an equation of a plane passing through an original point and laser radar scanning lines are obtained by processing image information, a straight-line equation of laser radar scanning is built, and furthermore, the direction vectors and the intersection coordinates of the straight lines are obtained; finally, calibration is finished according to the relations between direction vectors and the intersection coordinates of the straight lines corresponding to the different coordinate systems. According to the method, no object in a calibration scene needs to be moved, collection of all calibration data can be completed at a time, and calibration efficiency is improved greatly. According to the method, the direction vectors of the straight lines of the laser scanning target planes under the coordinate systems of sensors to be calibrated are obtained directly, calibration precision is guaranteed, and meanwhile the calibration algorithm is simplified.
Owner:BEIJING UNIV OF TECH

Robot eye-on-hand system structured light plane parameter calibration device and method

The invention discloses a robot eye-on-hand system structured light plane parameter calibration device and a method. According to the device, a camera and a laser device are installed at the tail end of a robot to form a robot eye-on-hand system, and on the premise of obtaining camera intrinsic parameters, plane parameters of structured light projected by the laser device are calibrated, and thereby structured light three-dimensional vision measurement can be achieved. The robot eye-on-hand system structured light plane parameter calibration method includes that a plane checkerboard target is placed in a calibration area, laser lights are projected on the target to form a first line structured light stripe, the robot is controlled to move in a constraint mode so as to project the laser lights to another position of the target to form a second line structured light stripe, the camera respectively acquires images of two structured light stripes at two calibration positions, the relation of three-dimensional coordinate of points on stripe straight lines under a camera coordinate system at the two calibration positions is calculated, and thereby the structured light plane parameter calibration with the structured light stripe straight lines serving as calibration elements can be achieved.
Owner:INST OF AUTOMATION CHINESE ACAD OF SCI +1

Camera external parameter calibration method of multi-camera system

InactiveCN107146254ASimple Calibration Facility RequirementsImprove calibration accuracyImage enhancementImage analysisMulti cameraMarine navigation
The invention discloses a camera external parameter calibration method of a multi-camera system for solving the problems that a three-dimensional precise calibration object is difficult to manufacture, the efficiency of a multi-camera external parameter calibration process is low, and that accumulative errors are generated in the existing method. The method comprises the following steps: performing fitting to obtain quadratic curve matrixes of shooting ball projections of cameras; solving inhomogeneous coordinates of three spherical centers in a camera coordinate system; establishing a world coordinate system in which the three spherical centers are located on the same plane through the plane where the three spherical centers are located and the positions of the spherical centers; solving external parameters of a plurality of cameras in the world coordinate system in which the three spherical centers are located on the same plane, and accomplishing the external parameter calibration of the cameras in the multi-camera system, wherein the two coordinate systems are overlapped. By adoption of the camera external parameter calibration method disclosed by the invention, the external parameters of the plurality of cameras in the same world coordinate system are calculated quickly, conveniently and accurately without requiring more conversion, no accumulative error is generated, and the camera external parameter calibration precision is high. The camera external parameter calibration method is applied to the fields of image measurement, three-dimensional reconstruction, unmanned aerial vehicle navigation, etc.
Owner:XIDIAN UNIV

Fish-eye lens correction method and device and portable terminal

The invention is suitable for the digital image processing field and provides a fish-eye lens correction method and device and a portable terminal. The method comprises the following steps: carrying out distortion correction on a fisheye image through an equidistant projection model to obtain an initial correction image, the image content of which is a calibration board; obtaining all angle pointsof the calibration board from the initial correction image, re-projecting angle point coordinates to the fisheye image to obtain rough angle point coordinate values of the calibration board in the fisheye image, and serving the angle points as feature points in the fisheye image; and carrying out iteration on the feature points in the fisheye image to obtain different parameter values within a preset parameter range, carrying out correction on the fish-eye lens through the equidistant projection model, and serving the parameter value obtained when the deviation amount is minimum as an accurate correction value of the fish-eye lens. The fish-eye lens correction method reduces preparation workload in the early stage, and is simple in operation process; a camera does not need to change position and angle; and the fish-eye lens correction method is wide in application range, does not need to set a lot of parameters, is simple to calculate, and meanwhile, realizes an accurate fisheye correction effect.
Owner:ARKMICRO TECH

Collaborative robot hand-eye relation automatic calibration device and method

The invention provides a collaborative robot hand-eye relation automatic calibration device and method. The calibration device comprises a collaborative robot force control pulling teaching button, acalibration probe, a calibration plate with a marker and a calibration system, wherein the calibration system is mainly used for controlling the robot button to move according to a preset track; target points in the preset track automatically acquire pixel coordinates of the center point of the marker and coordinate dot pairs of a robot; and calibration parameters are calculated according to the obtained multiple dot pairs. The calibration method comprises the steps of placing the calibration plate; pulling the collaborative robot to a teaching point and recording coordinates of the robot; pulling the collaborative robot to an initial photographing point, recording the coordinates of the robot and configuring a matched template; controlling the robot to continuously change the photographing point and acquiring the coordinates of the robot and the pixel coordinate dot pairs of the marker; and calculating the calibration parameters. Through the collaborative robot hand-eye relation automatic calibration device and method, the hand-eye relation of the collaborative robot can be conveniently and quickly calibrated, the calibration precision is high, and the collaborative robot hand-eyerelation automatic calibration device and method have the important significance in industrial grabbing and application of the collaborative robot.
Owner:SIASUN CO LTD

Calibration device of pull-press integrated sensor

The invention relates to a calibration device of a pull-press integrated sensor. The calibration device of the pull-press integrated sensor comprises a rack, wherein a loading mechanism is assembled on the top of the rack. The loading mechanism comprises a driving device and an executing mechanism, wherein the executing mechanism is connected with the driving device and used for outputting up-and-down straight line motion. The executing mechanism comprises a dowel bar, wherein the dowel bar is arranged at the tail end of the executing mechanism, a standard pressure sensor is arranged on the dowel bar, a base seat which is used for supporting and holding a to-be-demarcated pressure sensor is assembled at the tail end of the dowel bar. A baffle is arranged on the upper portion of the base seat. The baffle is assembled on the dowel bar of the executing mechanism anti-dropping in a dipping-and-heaving mode. A first connector which is used for being connected with one end of a to-be-demarcated tension sensor is fixedly connected on the baffle. The first connector and the baffle are in driving connection synchronously in the same direction when the to-be-demarcated device works. A second connector which corresponds to the first connector is assembled on the lower portion of the base seat on the rack. The calibration device of the pull-press integrated sensor is capable of carrying out demarcating to a tension sensor and a pressure sensor at the same time, convenient and swift, simple in structure and capable of improving demarcating efficiency.
Owner:HENAN UNIV OF SCI & TECH

Reading recognition measurement method for pointer type instrument based on machine vision system

The invention relates to a reading recognition measurement method for a pointer-type instrument based on a machine vision system, and belongs to the technical field of instrument measurement. The method comprises the steps: building a visual imaging system model for a plurality of pointer-type instruments; employing a CCD camera plane calibration method to calibrate the internal parameters and distortion parameters of a camera and the external parameters of a pointer-type instrument dial plate; rotating an pointer-type instrument image to a position where the pointer-type instrument image is parallel to the pointer-type instrument dial plate through the external parameters of the pointer-type instrument dial plate; translating each pointer-type instrument image to a position nearby an optical center, and extracting the scale and the position of a pointer and the center of each pointer-type instrument image through the image processing technology; and obtaining the reading of the pointer-type instrument through an angle method. The method is advantageous in that the method employs the visual measurement technology, eliminates the perspective projection distortion through image rotation, improves the measurement precision, and is suitable for the measurement of the reading of a plurality of instruments at the same time through one camera. The method achieves the high-precision intelligent detection, improves the reading efficiency of the instruments, and improves the calibration efficiency of the camera.
Owner:JILIN UNIV

Quick correcting system and method for static performance of pressure sensor

The invention discloses a quick correcting system and method for static performance of a pressure sensor. The quick correcting system and method are mainly used for realizing the quick correcting and screening in the batch production of small pressure sensors and change the manual or semi-automatic operation in the traditional correcting process into automatic operation. The quick correcting system is composed of a computer, a high-speed data acquisition unit, a pressure pump, a pressure controller, a gas storage tank with a large holding cavity, a pressure pipeline, a pressure vessel with a small holding cavity, a pressurization solenoid valve, an unload solenoid valve, a pipe diameter coarse adjusting valve, a pressure valve and valve drivers. The computer controls the pressure pump to provide a pressure source for the gas storage tank with the large holding cavity, the valve drivers drive the valves to regulate the pressure change of the system to form controllable first-order variable pressure in the pressure vessel with the small holding cavity and act on a corrected pressure sensor in the pressure vessel with the small holding cavity, so that the output pressure is changed in the mode of according with the time. The high-speed data acquisition unit measures the voltage parameters output from the corrected pressure sensor, and an automatic correcting software displays and records the voltage parameters at real time.
Owner:BEIHANG UNIV

Correction method of LED display screen

ActiveCN105185298AReduce the number of acquisitionsReduce calibration timeStatic indicating devicesLED displayLED lamp
The invention relates to a correction method of an LED display screen. The correction method comprises: sizes of modules for correction and a separated module collection mode of an LED display screen are determined; the LED display screen is controlled to be lightened and primary-color image collection is carried out, wherein each lightened correction module contains a plurality of controlled lightened same-color LED lamp points with continuous positions; according to the collected primary-color image, an initial brightness module or an initial brightness chromatic value of each lightened correction module is obtained and a brightness correction target value or a brightness chromatic correction target value is determined correspondingly; and on the basis of the initial brightness module or an initial brightness chromatic value of each lightened correction module as well as the corresponding brightness correction target value or a brightness chromatic correction target value, brightness correction coefficients or brightness chromatic correction coefficients of the multiple same-color LED lamp points in each correction module are obtained and are applied to the LED display screen. According to the invention, the number of LED lamp points for single-time collection is increased by using a separated module collection way and the number of times of image collection is also reduced; the correction time can be shortened; and the correction efficiency can be improved.
Owner:XIAN NOVASTAR TECH

River plane two-dimension current model roughness calibration method

The invention discloses a river plane two-dimension current model roughness calibration method comprising the following steps: 1, delimiting roughness zones according to river plane features, and initializing the roughness in each zone; selecting the present flow rate with to-be-calibrated roughness and the corresponding river reach outlet water level; using a river plane two-dimension current mathematics model to carry out water-power calculation; determining errors between a model calculated value and an actual measurement value of each monitoring point water level; determining whether the water level error is small enough or not; determining a water pass area according to the water depth, and using all monitoring point water level error interpolation to estimate the water level errors between all grid points in the water pass area; using a dichotomy to adjust the roughness of the grid points in the water pass area according to the water level errors of all grid points in the water pass area; further determining whether all to-be-calibrated flow rates have been calibrated or not; if yes, finishing roughness calibration, and storing the roughness calibration result. The method can reduce artificial interferences in an iteration trial process, thus solving the problems that an existing method is unclear in technical process, rigid in conditions, and hard to apply.
Owner:CHINA INST OF WATER RESOURCES & HYDROPOWER RES +2

Vision inspection device for convenient assembly and disassembly of tray

The invention relates to the technical field of vision inspection devices and particularly relates to a vision inspection device convenient assembly and disassembly of a tray. The vision inspection device comprises a rack, a Z-axis mechanism and a horizontal movement mechanism, wherein the Z-axis mechanism is provided with a camera; the horizontal movement mechanism is provided with a tray clamp; the tray clamp comprises a clamp body arranged on the horizontal movement mechanism; the clamp body is provided with a containing cavity; the front side edge and an adjacent edge of the front side edge of the containing cavity are respectively provided with a front pressing strip and a side pressing strip which are detachable; one side edge of the clamp body is provided with a screw hole in which a screw is installed; both the front pressing strip and the side pressing strip are provided with a through hole; the screw is in threaded connection with the screw hole after penetrating through the through hole; the screw is sleeved with a spring; one end of the spring pushes against the end part of the through hole; and the other end of the spring pushes against the head part of the screw. The vision inspection device can be used for not only assembling and disassembling an IC (integrated circuit) tray rapidly, but also calibrating the position of the IC tray conveniently, and the vision inspection device is simple in structure and strong in practicability.
Owner:DONGGUAN SCIENCGO MACHINERY MFG

Roll gap calibration method for lightly pressing down tension leveler in square billet continuous casting

Disclosed is a roll gap calibration method for lightly pressing down a tension leveler in square billet continuous casting. The roll gap calibration method for lightly pressing down the tension leveler in the square billet continuous casting includes: a, selecting a standard chain pole as a calibrator, and setting a calibration reference value which comprises calibration pressure values and a calibration thickness value; b, starting the calibrator to complete a calibration motion, and reading and recording an actual detection value; c, calculating a deviation value according to the calibration reference value and the actual detection value, and performing correction and compensation according to the deviation value, wherein the calibration pressure values in the step a are respectively a minimum pressure value and a maximum pressure value, a pressure interval value is constituted by the minimum pressure value and the maximum pressure value, and the correction and the compensation in the step c are performed according to a two point linearity correction algorithm, and confirmed according to a linear function relationship between pressure and the thickness. The roll gap calibration method for lightly pressing down the tension leveler in the square billet continuous casting is achieved by using the multiple segment calibrator to achieve positioning once and automatically calibrating the pressure of multiple points, improves roll gap calibration accuracy when the tension leveler is pressed down in the square billet continuous casting, shortens calibration time, and improves calibration efficiency.
Owner:BAOSHAN IRON & STEEL CO LTD

Robot tool coordinate system calibration method based on planar constraints

The invention discloses a robot tool coordinate system calibration method based on planar constraints. The robot tool coordinate system calibration method comprises the steps of: setting a motion modeof a robot; establishing a base coordinate system B, an end coordinate system E and a tool coordinate system T; establishing a planar constraint condition; ensuring that an irradiation point is always on a marble platform, keeping the attitude of the end coordinate system E unchanged, and controlling the position of the end coordinate system E to change for six times; ensuring that the irradiation point is always on a marble platform, keeping the position of the end coordinate system E unchanged, and controlling the attitude of the end coordinate system E to change for three times; and solving an irradiation point coordinate equation. During the tool coordinate system calibration process, the calibration of the tool coordinate system can be completed by solving the irradiation point coordinate equation of a laser displacement sensor, the solving of the irradiation point coordinate equation only needs to complete the measurement of 9 sets of data, the calibration efficiency is high, and the laser displacement sensor is utilized for distance detection to ensure sufficient calibration precision of the tool coordinate system.
Owner:FOSHAN INST OF INTELLIGENT EQUIP TECH +1

Phase measuring profilometry system nonlinear correction method combining geometric calibration

ActiveCN104236482ASimplifies the process of nonlinear correctionImprove calibration efficiencyUsing optical meansGray levelNonlinear calibration
The invention discloses a phase measuring profilometry system nonlinear correction method combining geometric calibration. According to the phase measuring profilometry system nonlinear correction method combining geometric calibration, a target is scanned through the phase measuring profilometry to obtain an accurate phase, average brightness and brightness modulation, the accurate phase and the average brightness are utilized to calibrate a protector and a camera shooting device respectively, nonlinear response of the projector is obtained according to the accurate phase and a shot structured light image to establish a gray level lookup table, the gray value of the image is pre-compensated by utilizing the gray level lookup table before three-dimensional scanning is carried out on the projected structured light image, and therefore the purpose of carrying out nonlinear correction on a measurement system is achieved. The phase measuring profilometry system nonlinear correction method combining geometric calibration can be used for geometric calibration and nonlinear correction of the phase measuring profilometry system, organically combines geometric calibration of the measurement system and nonlinear correction, and has the advantages of convenient operation, high correction accuracy and high execution efficiency.
Owner:SICHUAN UNIV

Three-dimensional scanning measurement device of robot, and working method

The invention puts forward a three-dimensional scanning measurement device of a robot, and a working method. The three-dimensional scanning measurement device of the robot comprises a front end measurement device and an image processing terminal, wherein the front end measurement device is installed on the tail end mechanical arm of a robot installed above a calibration table; the bottom of the tail end mechanical arm is provided with a tail end tool; the calibration table is provided with a calibration board; the image processing terminal is in communication connection with the front end measurement device and the controller of the robot; and the controller of the robot is connected with a demonstrator. The working method comprises the following steps of: through a calibration method, obtaining a transformation relationship between an image coordinate system and a robot coordinate system, and obtaining a three-dimensional model of a tested workpiece through a measurement method. The three-dimensional scanning measurement device of the robot has the following advantages that the online measurement of the workpiece is realized, measurement data is fed back to the controller and is used for the route planning and the movement compensation calculation of the robot, and the machining precision and the working efficiency of the robot are improved.
Owner:JIANGSU LANLING ELECTROMECHANICAL TECH CO LTD

Automatic calibration device of static electric field sensor and calibration method thereof

The invention provides an automatic calibration device of a static electric field sensor and a calibration method thereof. A three-dimensional electric field sensor test supporting seat is adopted so as to realize calibration and testing to a three-dimensional electric field sensor. Simultaneously, the device is also a multi-mode automatic calibration device, and compatibility and flexibility are good. Functions of automatic adjustment of a high voltage power supply output voltage, arbitrary arrangement of electric field measurement points and adjusting time intervals, automatic acquisition of electric field data, processing and the like are realized and calibrate efficiency and precision of the electric field sensor are greatly increased. A slide rail is used to connect a test pole plate structure and a shielding structure box body, and during calibration, operation is convenient and maintenance is easy. A conductive metal wire and an equal voltage division resistor string are arranged so as to increase the calibration precision. A temperature sensor and a humidity sensor are arranged in an electric field test box so that an important reference basis is provided for electric field sensor environment adaptability research.
Owner:INST OF ELECTRONICS CHINESE ACAD OF SCI
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