Manipulator locating, guiding and calibrating method based on machine vision cooperation

Abstract

The invention discloses a manipulator locating and guiding method and a calibration method based on machine vision cooperation. The calibration method comprises the steps of grabbing a product through a manipulator, so that a certain feature point of the product is located in the visual field of a camera, the product is driven by the manipulator to move for nine times in a nine-square mode, and the moving distance is delta d; taking any one of nine points as a central origin, and calculating actual coordinates of the other eight points; shooting once with a camera when the manipulator is moved once, capturing feature points of the product, calculating the pixel coordinates of the feature points, and finally forming the pixel coordinates of the nine points; and calculating a coordinate conversion relationship between pixel coordinates and actual coordinates by using a visual nine-point calibration algorithm. The calibration method is simple in calibration process, calibration blocks are not needed, and calibration is carried out only through the corresponding relation between image points. According to the guiding method, the offset of a locating point can be calculated according to the rotating center point calculated in a virtual coordinate system, and therefore the manipulator can be guided to adjust the grabbing position of the product.

Description

Technical field[0001]The present invention relates to a method of positioning guidance and calibration method based on machine visual mating robot.Background technique[0002]With the development of technology, market users have become higher and high, and the traditional positioning method can no longer meet the needs of users, and therefore, the machine visual positioning technology is successively obtained.[0003]The relationship between the unified visual coordinate system and the robot coordinate system is often referred to as calibration. The calibration method of the conventional camera is to utilize the structural information of the scene, which is usually a structure, a calibration block having a high machining accuracy as a directional reference, a corresponding relationship between the spatial point and the camera point, and then passes Optimization algorithm extraction parameters.[0004]In the prior art, the calibration process is complex, and the accuracy requirements of th...

AI Technical Summary

Problems solved by technology

[0004] In the prior art, the calibration process is complicated, and the accuracy of the calibration block is high. In many practical applications, the calibration block cannot be used and it is difficult to complete the calibration.

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