Rotary table and robot camera calibration system

A rotary table and camera technology, applied in the field of robot vision, can solve the problems of errors and complicated operations, and achieve the effect of avoiding human errors and improving the calibration accuracy.

Pending Publication Date: 2018-11-06
SHENZHEN HANWUJI INTELLIGENT TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this method can only be realized on the premise that the camera can see the marker, and it needs to manually adjust the angle of the marker, which is complicated to operate, and it will also cause human error due to multiple human operations

Method used

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  • Rotary table and robot camera calibration system
  • Rotary table and robot camera calibration system
  • Rotary table and robot camera calibration system

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Experimental program
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Embodiment 1

[0039] An embodiment of the present invention provides a rotary table, such as figure 1 and figure 2 shown. rotating table (i.e. image 3 The rotating table 6) in is used to drive the flat mirror 7 to rotate to a preset angle, so that the camera (ie image 3 The camera in 9) captures the marker (i.e. image 3 The calibration image formed by the marker 8 in the plane mirror 7 is used to calibrate the extrinsic parameters of the camera. Rotary table 6 comprises housing 1, rotating bracket 2 and motor 130, and rotating bracket 2 is driven by motor 130 and rotates relative to housing 1, and rotating bracket 2 is provided with draw-in groove 3; image 3 The plane mirror in 7).

[0040] Optionally, the shell 1 can be a cylinder, and a cavity can be formed inside the shell 1, and a rotating shaft is arranged at the bottom of the cavity, and the rotating shaft is connected with the rotating bracket 2, so as to make the rotating bracket 2 complete the rotation action.

[0041] O...

Embodiment 2

[0062] An embodiment of the present invention provides a robot camera calibration system, such as figure 2 shown. The system includes a flat mirror 7 , a robot 10 , a marker 8 , a camera 9 and a rotary table 6 . The marker 8 and the camera 9 are installed on the robot 10, and the plane mirror 7 is installed on the turntable 6, and the turntable 6 is used to drive the plane mirror 7 to rotate to a preset angle, so that the camera 9 can photograph the position of the marker 8 in the plane mirror 7. The resulting calibration image is used to calibrate the extrinsic parameters of the camera.

[0063] The robot 10 includes a base 11 and a body 12 connected to each other.

[0064] The camera 9 is a 2D camera, fixedly installed in the middle of the outer wall of the fuselage 12, and used to shoot the calibration image formed by the marker 8 in the plane mirror 7; the marker 8 is fixedly installed on the base 11.

[0065] Optionally, the camera 9 and the marker 8 can be fixedly in...

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Abstract

The invention provides a rotary table and robot camera calibration system and relates to the technical field of robot vision. The rotary table comprises a shell, a rotary bracket and a motor, whereinthe rotary bracket relatively rotates with the shell under drive of the motor; and a clamping groove is formed in the rotary bracket and is used for mounting a plane mirror. The rotary table is used for driving the plane mirror to rotate to a preset angle, so that a camera installed on the robot can shoot a calibration image of a marker in the plane mirror, and the external camera parameters are calibrated; and the personal error can be avoided, and the calibration precision of the external camera parameters is improved.

Description

technical field [0001] The invention relates to the technical field of robot vision, in particular to a rotating table and a robot camera calibration system. Background technique [0002] With the development of modern robot vision technology, machine vision technology has been widely used in more and more fields, especially in robot navigation, which is an indispensable part. As with all robot navigation techniques, the first problem to be solved is the camera calibration problem in the robot. [0003] The camera extrinsic parameter calibration methods in the prior art usually use markers to calibrate the camera extrinsic parameters, and need to shoot the marker multiple times to obtain marker images from multiple angles, and use these images for camera calibration. However, this method can only be realized on the premise that the camera can see the marker, and it needs to manually adjust the angle of the marker continuously, which is complicated to operate, and will also ...

Claims

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Application Information

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IPC IPC(8): G06T7/80
CPCG06T7/80G06T2207/30208
Inventor 张学武宋洋鹏严盼辉张猛
Owner SHENZHEN HANWUJI INTELLIGENT TECH CO LTD
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