Improved robot vision and conveying belt comprehensive calibration method

A technology of robot vision and calibration method, which is applied in the field of improved robot vision and comprehensive calibration of conveyor belts, and can solve problems such as difficulty in precise positioning of target objects.

Inactive Publication Date: 2019-04-05
XI'AN POLYTECHNIC UNIVERSITY
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Problems solved by technology

[0004] The purpose of the present invention is to provide an improved robot vision and conveyor belt comprehensive calibration method, which solves the problem that the traditional six-degree-of-freedom robot vision and conveyor belt calibration method is difficult to accurately locate the target object on the conveyor belt

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  • Improved robot vision and conveying belt comprehensive calibration method
  • Improved robot vision and conveying belt comprehensive calibration method
  • Improved robot vision and conveying belt comprehensive calibration method

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Embodiment Construction

[0066] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0067] An improved robot vision and conveyor belt comprehensive calibration method of the present invention, the specific steps are as follows:

[0068] Step 1, such as figure 1 As shown, the camera coordinate system is set up, and P located on the same coordinate axis is arbitrarily selected x1 and P x2 Two o'clock, P x1 The point is located at the front of the MP2514 camera field of view, and its coordinates in the camera coordinate system are P x2 The point is located at the back end of the field of view of the MP2514 camera, and its coordinates in the camera coordinate system are Calculate the camera installation angle θ according to the following formula (1):

[0069] θ=arcsin(z 2 -z 1 / x 2 -x 1 ), unit deg (1);

[0070] x 1 、x 2 Represents the value on the x-axis, z 1 ,z 2 Represents the value on the z coordinate axis; ...

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Abstract

The invention discloses an improved robot vision and conveying belt comprehensive calibration method. A conveying belt coordinate system is built based on the movement of an object on a conveying belt; in view of the error of distortion of a camera and the error of installation angle of equipment, modeling analysis is carried out on some errors, and a threshold value is set, so that positioning and grabbing can be carried out by a six-degree-of-freedom robot accurately in the moving process of the target object on the conveying belt, and the flexibility and accuracy of motion control of the six-degree-of-freedom robot are successfully improved.

Description

technical field [0001] The invention belongs to the technical field of machine vision and comprehensive calibration, and relates to an improved method for comprehensive calibration of robot vision and conveyor belts. Background technique [0002] The comprehensive calibration of robot vision and conveyor belt is one of the important processes in industrial assembly line production. The traditional process of grabbing objects on the conveyor belt not only requires a lot of manpower and material resources, but also the work efficiency of workers and the quality of completion cannot be well guaranteed. Therefore, the research on robot vision and conveyor belt calibration method can improve the efficiency of industrial assembly line production, and of course indirectly promote the development of industrial automation. [0003] However, the traditional six-degree-of-freedom robot vision and conveyor belt calibration methods generally ignore the pixel deviation of camera distorti...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16
CPCB25J9/1692B25J9/1697
Inventor 王晓华
Owner XI'AN POLYTECHNIC UNIVERSITY
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