Hand and eye calibration method and system based on calibration point extraction and computer storage medium
A hand-eye calibration and calibration point technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of increasing workpiece pre-positioning steps, reducing production efficiency, and increasing equipment costs, so as to improve production efficiency, reduce equipment costs, The effect of improving the level of intelligence
Active Publication Date: 2018-12-18
深圳辰视智能科技有限公司
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This method has higher requirements on the surrounding mechanical equipment, which increases the equipment cost; increases the workpiece pre-positioning step, reduces the production efficiency; and when the position of the workpiece changes, it is necessary to readjust the surrounding mechanical equipment and adjust the mechanical arm. Reprogrammed, less adaptive
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[0052] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only for explaining the present invention, and are not intended to limit the present invention.
[0053] In the following description, use of suffixes such as 'module', 'part' or 'unit' for denoting elements is only for facilitating description of the present invention and has no specific meaning by itself. Therefore, 'module', 'part' or 'unit' may be used in combination.
[0054] The invention provides a hand-eye calibration method based on calibration point extraction. On the basis of using the calibration board to extract the calibration points to calibrate the internal and external parameters of the camera, the mapping relationsh...
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The invention discloses a hand and eye calibration method and system based on calibration point extraction and a computer storage medium, and belongs to the field of machine vision sorting. The methodcomprises the steps that according to a calibration plate, calibration point image pixel coordinates are extracted, a world coordinate system is established, and the relative relation between a camera coordinate system and the world coordinate system is determined; according to the calibration point image pixel coordinates of the calibration plate, the mapping relation between image pixel coordinates and the camera coordinates is determined; and according to the calibration point and the world coordinate system, a mechanical arm user coordinate system is established, and the relation betweenthe world coordinate system and the mechanical arm user coordinate system is determined. According to the provided hand and eye calibration method and system based on calibration point extraction andthe computer storage medium, according to the image coordinates, the actual grabbing coordinates of a mechanical arm are determined, the mechanical arm sorting self-adaption can be improved, the intelligent level of the mechanical arm is improved, the equipment cost is reduced, and the production efficiency is improved.
Description
technical field [0001] The invention relates to the field of machine vision sorting, in particular to a hand-eye calibration method, system and computer storage medium based on calibration point extraction. Background technique [0002] In recent years, in the field of robotic arm sorting, the industrial robotic arm is generally guided to grab materials by teaching the industrial robotic arm. This method needs to fix the workpiece to be grabbed to a fixed position, and then teach the robotic arm to the specified position. location capture. This method has higher requirements on the surrounding mechanical equipment, which increases the equipment cost; increases the workpiece pre-positioning step, reduces the production efficiency; and when the position of the workpiece changes, it is necessary to readjust the surrounding mechanical equipment and adjust the mechanical arm. Reprogrammed, less adaptive. [0003] Therefore, in order to reduce production costs, improve productio...
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CPCB25J9/1697
Inventor 陈恳陈先开姚杰冯良炳
Owner 深圳辰视智能科技有限公司