Rapid calibration method of robot visual system

A robot vision and vision system technology, applied in the field of robot coordinate setting, can solve the problems of many prerequisites, large amount of calculation, and inability to realize simple and quick calibration, and achieve the effect of reducing manual participation and strong practicability

Inactive Publication Date: 2014-12-03
GUANGDONG AOPUTE TECH CO LTD
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the existing robot vision system calibration methods generally have the disadvantages of many prerequisites, high complexity,

Method used

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  • Rapid calibration method of robot visual system
  • Rapid calibration method of robot visual system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] Example 1: See figure 1 .

[0043] At present, manipulators generally have their own stepping coordinate system, such as the stepping program of wire cutting, etc.; when the vision system is used to control other transmission devices to cooperate with the manipulator, the coordinate system of the vision system and the coordinate system of the manipulator need to be unified.

[0044] The rapid calibration method of the robot vision system is used to convert the robot coordinates to a robot vision system coordinate, which includes the following steps:

[0045] Step 1: Set up a calibration board. The calibration board is equipped with a number of preset points for the sensing of the camera device in the vision system, and a coordinate system is established for the calibration board; the coordinate system is based on the coordinate system of the manipulator device itself. The two coordinate systems are equivalent.

[0046] Step 2. The manipulator sets a sensing point for calibratin...

Embodiment 2

[0063] Example 2: see figure 2 .

[0064] The rapid calibration method of the robot vision system is used to convert one of the vision system coordinates to the other vision system coordinates, including the following steps:

[0065] Step 1: Set up a calibration board, which is equipped with multiple preset points for vision system sensing;

[0066] Step 2. Provide a manipulator. The manipulator sets a sensing point for calibrating the movement of the manipulator; set the movement rules of the manipulator according to the position of the preset point. The manipulator is controlled by the processor so that the sensing point is located at the preset point every time the manipulator moves Above:

[0067] Step 3. The manipulator starts to move, and the first camera of one vision system and the second camera of the other vision system respectively take images of the manipulator; the display windows of the two vision systems are divided into coordinates; or the coordinates of the two visio...

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Abstract

The invention relates to a rapid calibration method of a robot visual system, especially to calibration between a camera and a manipulator and calibration between cameras. The method comprises the steps of arranging a calibration plate, setting movement rules of the manipulator, obtaining coordinates of induction points of the calibration plate and coordinates of the corresponding visual system, establishing mapping relations of matrixes according to the coordinates, and solving a transformation matrix.

Description

Technical field [0001] The invention relates to the technical field of robot coordinate setting, in particular to a rapid calibration method of a robot vision system. Background technique [0002] At present, in the manufacturing industry around the world, industrial robots have played an increasingly important role in production. In order to make robots capable of more complex tasks, robots not only need to have better control systems, but also need to be more aware of changes in the environment. Among them, robot vision has become the most important robot perception function due to its large amount of information and complete information. Take the precise welding of electronic components on circuit boards with robots as an example. During the welding process, the robot can use the camera in the vision system to automatically position the workpiece or work surface, and calculate the relative position of the work scene relative to the robot to assist the robot in completing the ...

Claims

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Application Information

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IPC IPC(8): G01B11/00
Inventor 卢盛林郭龙
Owner GUANGDONG AOPUTE TECH CO LTD
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