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984results about How to "Simplify the calibration process" patented technology

Multiple video cameras synchronous quick calibration method in three-dimensional scanning system

A synchronous quick calibration method of a plurality of video cameras in a three-dimensional scanning system, which includes: (1) setting a regular truncated rectangular pyramid calibration object, setting eight calibration balls at the vertexes of the truncated rectangular pyramid, and respectively setting two reference calibration balls at the upper and lower planes; (2) using the video cameras to pick-up the calibration object, adopting the two-threshold segmentation method to respectively obtain the corresponding circles of the upper and lower planes, extracting centers of the circles, obtaining three groups of corresponding relationships between circle center points in the image and the centres of calibration ball in the space, solving the homography matrix to obtain the internal parameter matrix and external parameter matrix and obtaining the distortion coefficient, taking the solved video camera parameter as the initial values, and then using a non-linear optimization method to obtain the optimum solution of a single video camera parameter; (3) obtaining in sequence the external parameter matrix between a plurality of video cameras and a certain video camera in the space, using the polar curve geometric constraint relationship of the binocular stereo vision to establish an optimizing object function, and then adopting a non-linear optimization method to solve to get the optimum solution of the external parameter matrix between two video cameras.
Owner:NANTONG TONGYANG MECHANICAL & ELECTRICAL MFR +1

Calibration method and device for robot hole forming platform vision measurement system

The invention discloses a calibration device for a robot hole forming platform vision measurement system, and further discloses a calibration method based on the calibration device. The method comprises the steps of building a calibration plate coordinate system and a tool coordinate system according to a calibration plate, building a two-dimensional transformation relation of the calibration plate coordinate system and the tool coordinate system on a calibration plate locking face according to the geometric positional relation of a middle hole and a spindle hole of a none-hole array, building a camera coordinate system on a calibration plate shooting face, conducting calibration on camera intrinsic parameters and calculation on camera external parameters according to a nine-hole array image shot by a camera, building a two-dimensional transformation relation of the camera coordinate system and the calibration plate coordinate system on the calibration plate locking face, thereby obtaining a two-dimensional hand-eye relation of the camera coordinate system and the tool coordinate system on the calibration plate locking face, and then obtaining a three-dimensional hand-eye relation between the camera coordinate system and the tool coordinate system by combining distance information, obtained through measurement of a camera coordinate system original point in the hole forming depth direction with distance information, obtained through measurement, of a tool coordinate system original point.
Owner:ZHEJIANG UNIV

Joint calibration method and device, electronic equipment and storage medium

According to the joint calibration method and device, the electronic equipment and the storage medium provided by the invention, the method includes: acquiring the point cloud data and the image dataacquired by the laser radar and the camera for the same target acquisition area, wherein the target acquisition area is internally provided with the target object capable of being used for calibration, and the target object comprises at least one corner point; determining a two-dimensional image coordinate and a three-dimensional point cloud coordinate of each corner point in the image data and the point cloud data respectively; according to the two-dimensional image coordinates and the three-dimensional point cloud coordinates of the same angular point, performing calculating to respectivelyobtain external parameters of the laser radar and the camera; performing joint calibration on the laser radar and the external parameters according to the external parameters of the laser radar and the camera. Therefore, the calibration of the laser radar and the camera is not carried out by using a calibration plate; insteadly, the point cloud data and the image data acquired by the laser radar and the camera aiming at the target object in the same target acquisition area are directly calibrated, so that the calibration efficiency is improved, the calibration process is simplified, and repeated calibration of the laser radar and the camera is facilitated.
Owner:BEIJING WANJI TECH

Method for calibrating star sensor

The invention relates to a method for calibrating a star sensor, which can effectively solve the problems of low calibrating speed, low efficiency and high hardware requirements of the star sensor. The method comprises the following steps of: calibrating internal parameters of the star sensor to obtain a coordinate of a mark point in a coordinate system of a photogrammetric system; carrying out image processing on a picture and calculating internal parameters of cameras; establishing a transit surveying coordinate system; carrying out measurement on a manual surveying mark of a calibrating field by using a transit surveying system to obtain a three-dimensional coordinate of the manual surveying mark in the coordinate system of the transit surveying system; carrying out common point conversion by utilizing a three-dimensional coordinate value to obtain a conversion relation of the coordinate system of the calibrating field and the coordinate system of the transit surveying system and converting the coordinate system of the transit surveying system and a cubic prism coordinate system into the coordinate system of the calibrating field; and taking a picture of the calibrating field again to obtain a relation of the two cameras and the cubic prism coordinate system. The method for calibrating the star sensor of the invention has the advantages of simple calibrating process, low required precision for the hardware, high calibrating precision and high speed, greatly improves the working efficiency and is an innovation on the calibration of the star sensor.
Owner:BEIJING INST OF CONTROL ENG +1

Automatic calibration method for line structured light visual system of arc welding robot

The invention discloses an automatic calibration method for a line structured optical visual system of an arc welding robot. The method comprises the steps of: 1, placing a calibration plate at any position in a working area of the robot according to a predetermined constraint limit; 2, manually manipulating the robot to ensure that the position of the calibration plate is in a rectangular frame in the middle of a collected image and updating the position component of each collection point in a robot calibration program on the basis; 3, collecting 15 calibration plate images in 15 positions and calibration plate images in other 4 positions and the corresponding laser stripe images; and 4, calculating internal parameters of a camera and hand-eye relationship parameters through the collectedprevious 15 images and calculating structured light plane parameters through the collected latter four images. The method disclosed by the invention has the advantages that image positioning is onlycarried out on the first collection position of the calibration plate and the subsequent positions are automatically updated through translation transformation with no need for human operation, so that the calibration method is convenient and quick, the flexibility and the rapidity are greatly increased and the method can meet the needs of actual production environments.
Owner:SOUTH CHINA UNIV OF TECH +1

Transformation calibration method and system for mechanical arm coordinate system

The invention provides a transformation calibration method and system for a mechanical arm coordinate system. The transformation calibration method comprises the steps that S1, based on a tracking measurement device arranged in the working range of a target mechanical arm, the coordinate rotation transformation relation of a tail end tool coordinate system relative to a measurement reference coordinate system is obtained through a tail end coordinate system translational movement method; S2, the coordinate homogeneous transformation relation of the tail end tool coordinate system relative to amechanical arm base coordinate system is obtained through a single-axial rotation method based on the tail end tool coordinate system and kinematic transformation relative to the mechanical arm basecoordinate system; and S3, based on coordinates of selected calibration sampling points, the coordinate homogeneous transformation relation of the mechanical arm base coordinate system and the measurement reference coordinate system is obtained through a multipoint gravity center solution method, a gravity center processing method and a Roderick matrix transformation solution method. The calibration procedure is simple, the calibration algorithm is free of the iterative process, the consumed time of coordinate calibration can be effectively reduced, and the calibration precision of the coordinate systems is improved.
Owner:INST OF MICROELECTRONICS CHINESE ACAD OF SCI

Visual 3D taking and placing method and system based on cooperative robot

The invention provides a visual 3D taking and placing method and system based on a cooperative robot. The method comprises the steps that internal and external parameters of a camera of a binocular structured light three-dimensional scanner are calibrated; the hands and eyes of the cooperative robot are calibrated, and a calibration result matrix is obtained; a three-dimensional digital model of to-be-taken-and-placed target objects is collected; the calibrated binocular structured light three-dimensional scanner is adopted to obtain point cloud data of the to-be-taken-and-placed target objects which are stacked in a scattered mode, and the point cloud is segmented to obtain scene point clouds of the multiple to-be-taken-and-placed target objects; the to-be-taken-and-placed target object with the highest grabbing success rate is selected as a grabbing target according to the scene point clouds of the multiple to-be-taken-and-placed target objects; the three-dimensional digital model ofthe grabbing target and scene point pair features are registered, pre-defined taking and placing pose points are registered into a scene, and a registered pose estimation result is obtained and serves as a grabbing pose of the grabbing target; and a preliminary grabbing path track of the cooperative robot is planned. The target object can be accurately recognized, and the grabbing positioning precision is high.
Owner:新拓三维技术(深圳)有限公司

Camshaft signal panel angle detection gauge

A camshaft signal panel angle detection gauge comprises a supporting base, a compressing mechanism, an angle positioning mechanism and a detecting mechanism. The compressing mechanism is installed on a supporting base and located on the outer side of the angle positioning mechanism. The angle positioning mechanism comprises a top base, a rear support and a front support, wherein the top base, the rear support and the front support are sequentially arranged on the supporting base. An angle positioning pin is installed on the top base. The detecting mechanism comprises a sliding rail, a detecting base and a displacement sensor. The sliding rail is installed on the supporting base. The detecting base is installed on the sliding rail. A detecting shaft is installed in the detecting base. An angle detecting block is installed at one end of the detecting shaft. An angle detecting pin, a reference groove and a reference surface are arranged on the angle detecting block. The displacement sensor is fixedly installed on one side of the detecting base. The displacement sensor makes contact with the reference surface of the angle detecting block. The camshaft signal panel angle detection gauge is simple in structure and easy and convenient to operate, calibration is easy, the detection precision of a camshaft is ensured, and the product percent of pass is improved.
Owner:济南易恒技术有限公司

Calibration system and method of industrial robot workpiece coordinate system

The invention relates to a calibration system and method of an industrial robot workpiece coordinate system. The calibration system comprises an industrial robot, a robot controller, a robot ending tool, a sensor installation intermediate structural member, a calibration sensor assembly, a workpiece mounting table and a workpiece arranged on the workpiece mounting table. The calibration sensor assembly measures points on the workpiece, points on the characteristic curved boundary are detected, and a signal is output and then input into the robot controller; a trigger path is interrupted when the robot controller receives the signal, middle position data Fflange and displacement data Msensor in the height direction of a calibration sensor are recorded, and 6D data of the workpiece coordinate system is worked out by combining sensor mounting position data Fsensor. According to the calibration system and method of the industrial robot workpiece coordinate system, the calibration process is simple, the situation that measurement is not accurate due to the fact that a calibration plane is oblique can be avoided, the calibration precision is high, the calibration system can be applied tovarious workpiece occasions, the application cost of the calibration system is low, and achieving of large-range application and promotion is facilitated.
Owner:EFORT INTELLIGENT EQUIP CO LTD

Zero calibration method of six-axis industrial robot

ActiveCN103395073AHigh precisionCalibration process is simpleManipulatorEngineeringControl theory
The invention discloses a zero calibration method of a six-axis industrial robot. The zero calibration method comprises the following steps that reference positions are selected and set as initial zeros; a first joint axis is rotated on the basis of the reference positions; a second joint axis is adjusted to allow the inner side of the second joint axis to be kept in a horizontal position; a group of positions, where a difference value of a rotation angle of the second joint axis is maximum, in various groups of positions where a difference value of a rotation angle of the first joint axis is 180 degrees is determined; the first joint axis is rotated to a position perpendicular to the group of positions, which is the zero position of the first joint axis; on this basis, the second joint axis to a sixth joint axis are calibrated horizontally or perpendicularly by a precise level gauge; the rotation angles of the joint axes are written down; and the zero positions of the joint axes, namely the zero positions of the six-axis industrial robot are acquired finally. According to the method, the scale-free six-axis industrial robot can acquire the zero positions easily and quickly under the condition that the zeros are lost, and the motion precision of the industrial robot is improved.
Owner:716TH RES INST OF CHINA SHIPBUILDING INDAL CORP

Projector calibration method based on double four-step phase shift

InactiveCN105091750AThe calibration process is simple and easy to operateImprove calibration accuracyUsing optical meansComputer visionPhase shifted
The invention relate to a projector calibration method based on double four-step phase shift. The method comprises the following steps that 1) a calibration board is selected; 2) a projector calibration system is established; 3) an image of the calibration board is shot by a camera; 4) a DLP projector projects horizontal and vertical sine stripes onto the calibration board, and images formed on the calibration board are shot; 5) the step 4) is repeated to obtain a group of 4 horizontal images and a group of 4 vertical images; 6) phase extraction is carried on the two groups of horizontal images and two groups of vertical images, obtained in the steps 4) and 5) respectively, in the four-step phase shift method to obtain two horizontal phase principal-value images and two vertical phase principal-value images, and every two principal-value images in the same direction are overlapped to obtain an overlapped phase principal-value image; 7) phase expansion is carried out on each overlapped phase principal-value image obtained in the same direction to obtain a phase expansion image; and 8) absolute horizontal and vertical phases are obtained via the phase expansion images, and a pixel coordinate (mu, theta) of a corresponding point in a projector pixel coordinate is obtained, and the projector is calibrated.
Owner:HEBEI UNIV OF TECH
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