Monocular camera multi-field-of-view visual guidance device and guidance method

A vision-guided, multi-field-of-view technology, applied in manipulators, program-controlled manipulators, image data processing, etc., and can solve problems such as unusability

Active Publication Date: 2020-10-27
HUST WUXI RES INST
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Problems solved by technology

However, for some scenarios, such as when the tested product is located on both sides of the robot and the measured surface is perpendicular to the ground, it is necessary to fix two cameras in the middle of the tested product to operate the products located on both sides of the robot according to the conventional method; if the actual situation It cannot be used if the camera is not allowed to be fixed in the middle of the product under test

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  • Monocular camera multi-field-of-view visual guidance device and guidance method

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Embodiment 1

[0044] Such as figure 1 As shown, in the present invention, by placing a flat mirror 2 in front of the camera 1 and changing the posture of the flat mirror 2, the camera 1 can capture different field of view ranges. The calibration method is mainly divided into three parts: 1. Obtain the pose relationship between camera 1 and the robot base coordinate system {B}; 2. When rotating the plane mirror 2 to any pose, obtain the coordinate system of camera 1 and the virtual camera 1_1 in the plane mirror 3. Solve the pose relationship between the virtual camera 1_1 in the plane mirror and the robot base coordinate system {B}. Specific steps are as follows:

[0045] Obtain the pose relationship between camera 1 and the robot base coordinate system {B}: Use the eye-to-hand hand-eye calibration method to calibrate the pose between the camera coordinate system {C} and the robot base coordinate system {B} relation The calibration steps are as follows:

[0046] (1) Move the six-axis ...

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Abstract

The invention relates to a monocular camera multi-field-of-view visual guidance device and a guidance method. The guidance method comprises the following steps of 1, acquiring a pose relationship between a camera and a robot base coordinate system; 2, when a plane mirror is rotated to any attitude, acquiring a pose relationship between the camera and a virtual camera in the plane mirror; and 3, solving the pose relationship between the virtual camera in the plane mirror and the robot base coordinate system. A single camera is fixed to the parallel surface of a tested product, the plane mirroris fixed in front of the camera and is rotated through a mechanism (such as a motor), and the mechanism can output a rotating angle. By rotating the plane mirror, the camera parallel to the product can shoot products on two sides of a robot inside the visual camera in the plane mirror, the pose relationship between the virtual camera and the robot can be calibrated, and the product parallel to thecamera can be operated. The monocular camera multi-field-of-view visual guidance device and the guidance method are applicable to the occasion that a plurality of tested products are distributed on the two sides of the robot.

Description

technical field [0001] The invention relates to the field of industrial robots, in particular to a monocular camera multi-field vision guidance device and a guidance method. Background technique [0002] With the continuous improvement of labor costs, the degree of industrial automation is getting higher and higher, and the use of industrial robots and industrial cameras is also increasing. For this reason, vision-based robot vision guidance technology has been more and more researched and applied. Among them, the main application scenario in vision guidance is to use a camera to shoot the product under test, then convert the coordinates of the product under test into the robot coordinate system according to the hand-eye relationship between the camera and the robot, and finally control the movement of the robot to operate the product under test. However, for some scenarios, such as when the tested product is located on both sides of the robot and the measured surface is per...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16G06T7/80
CPCB25J9/1664B25J9/1697G06T7/80
Inventor 贾君慧张刚
Owner HUST WUXI RES INST
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