Horizontal robot camera coordinate system calibration method

Abstract

The invention relates to the technical field of visual robots, in particular to a horizontal robot camera coordinate system calibration method. The steps of coordinate calibration are as follows: a horizontal robot controls a calibration board to move in an X direction until a location target is aligned with a reference position in the X direction, and the horizontal robot controls the calibration board to move in a Y direction until the location target is aligned with the reference position in the Y direction; X and Y coordinates of a horizontal coordinate system of the horizontal robot are set to zero; and the horizontal robot controls the calibration board to rotate forwards or reversely around a center point until the angle of deflection of the calibration board in a pixel coordinate system is zero, and direction coordinates of the horizontal coordinate system of the horizontal robot are set to zero. The horizontal robot camera coordinate system calibration method has the advantages of no programming, simple setting and automatic calibration; after the position or direction of a camera is changed, an on-site maintenance engineer can solve a position calibration problem; and the calibration efficiency is high, and the maintenance cost is low.

Description

technical field [0001] The invention relates to the technical field of visual robots, in particular to a method for calibrating a camera coordinate system of a horizontal robot. Background technique [0002] The camera images on a plane, corresponding to the pixel coordinates in the plane in units of pixels, and the robot coordinates are centered on the installation platform of the robot, along the installation base, and the robot itself has a defined robot coordinate system. The pixel value obtained by the camera after taking pictures is only corresponding to the pixel coordinates in the pixel coordinate system, which is different from the actual movement of the robot. It must be converted into the coordinates of the robot before the robot can move to the target position. [0003] However, the existing common processing method of coordinate transformation between visual coordinates and robots is realized by means of calculation and programming. figure 1 As shown, that is, ...

AI Technical Summary

Problems solved by technology

[0019] Although this calibration method can realize the transformation of the two coordinate systems, the reasoning and calculation process is very cumbersome, requiring senior software engineers to write programs, the labor cost is high, and the work efficiency is low. The user's on-site engineers cannot cope with it, and it is difficult to correct it, which seriously affects the overhaul and maintenance efficiency of the robot equipment, and the defects are obvious

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