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A Calibration Method in Non-Common Field of View

A calibration method and non-common technology, applied in the calibration field under non-common field of view, can solve the problems of grasping error at the top of the object, complex calibration process, etc., and achieve the effect of short working time, simple operation, and not easy to be disturbed by ambient light.

Active Publication Date: 2021-07-02
中国大恒(集团)有限公司 +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The calibration process in this non-common field of view is more complicated, and when the object on the conveyor belt is high, grabbing the top of the object will cause a large error

Method used

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  • A Calibration Method in Non-Common Field of View
  • A Calibration Method in Non-Common Field of View
  • A Calibration Method in Non-Common Field of View

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Experimental program
Comparison scheme
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Embodiment 1

[0037] This embodiment provides a calibration method in a non-common field of view, which is applicable to the hand-eye calibration of the manipulator 9 by the stereo vision device 3 in the above-mentioned device or a similar device to the above-mentioned device. The method includes:

[0038] Step 1, set at least three sets of calibration points on the transmission device, the stereo vision device 3 obtains the visual coordinates of the first set of calibration points, the manipulator 9 sequentially determines the mechanical coordinates of the remaining calibration points in groups, and the encoder 2 records the conveyor belts in sequence 1. Moving to the coded reading of the calibration point, the coded reading can calculate the distance between each group of calibration points.

[0039] Considering that in the actual operation process, the manipulator 9 may be hindered in the process of touching the calibration point, this embodiment provides a method for obtaining visual coo...

Embodiment 2

[0104] This embodiment provides a grabbing device, which is arranged above the operating platform. The grabbing device includes an action mechanism, a visual mechanism and a control mechanism. The calibration method is to calibrate the object to be grasped above the operation platform, and transmit the calibration result to the control mechanism, and the control mechanism is used to control the movement of the action mechanism according to the calibration result.

[0105] Further, the working space of the motion mechanism does not coincide with the visual field space of the vision mechanism.

[0106] Further, the operating platform is a transmission device including a conveyor belt and a transmission motor, and the grabbing device also includes: an encoder; the encoder is used to record the movement amount of the conveyor belt, and transmit the movement amount to the visual mechanism, and the visual mechanism completes the object to be grasped. calibration.

[0107] The techn...

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Abstract

The application discloses a calibration method under non-common field of view, including: step 1, setting at least three sets of calibration points on the operating platform, the visual system obtains the visual coordinates of the first set of calibration points, and the action mechanism sequentially determines the remaining calibration points according to the group The mechanical coordinates of the fixed point, and the distance detection mechanism records the moving distance of the mobile device and the movement to the calibration point in groups; step 2, calculate the mechanical conversion coordinates corresponding to the visual coordinates according to the visual coordinates, mechanical coordinates and moving distance; step 3, according to Visual coordinates and mechanical conversion coordinates, calculate the coordinate transformation matrix, use the vision system to obtain the position coordinates of the object to be grasped, calibrate the motion mechanism according to the position coordinates and coordinate transformation matrix, and generate the movement coordinates of the motion mechanism. Through the technical solution in this application, the calibration point is set and the code value of the conveyor belt encoder is recorded, the coordinate transformation in the hand-eye calibration method is simplified, and the accuracy of grasping the top of a higher object is improved.

Description

technical field [0001] The present application relates to the technical field of machine vision, and in particular, relates to a calibration method in a non-common field of view. Background technique [0002] In the system where the stereo vision device guides the manipulator to grab objects, if the field of view of the stereo vision device covers the working space of the manipulator, it is considered that the two have a common field of view; The view relationship of is a non-common view. The purpose of the hand-eye calibration method is to obtain the coordinate transformation relationship between the coordinate system of the stereo vision device and the coordinate system of the manipulator, and the stereo vision device guides the manipulator to grasp the object according to the coordinate transformation result of the hand-eye calibration method. [0003] In the prior art, under the non-common field of view, an area array camera is usually introduced, and the plane of the c...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06T7/80
CPCG06T7/70G06T7/85
Inventor 曹玮亮李东平
Owner 中国大恒(集团)有限公司