Camera calibration method and device for dispensing platform and related equipment

Abstract

The invention discloses a camera calibration method for a dispensing platform. The camera calibration method comprises the following steps: acquiring a point cloud image obtained by shooting a calibration block when a camera moves within a preset travel range; determining feature points in the point cloud image, and calculating coordinates of each feature point in the point cloud image to generate a first point set; calculating the coordinate of each feature point under the coordinate system of the dispensing platform to generate a second point set; calculating according to the first point set and the second point set to obtain a conversion relation between the dispensing platform coordinate system and a camera coordinate system; calibrating the camera by using the conversion relation. According to the camera calibration method of the dispensing platform, accurate calibration of the camera in the dispensing platform can be realized, so that the dispensing quality of a product is effectively ensured. The invention further discloses a camera calibration device and equipment for the dispensing platform and a computer readable storage medium which all have the above beneficial effects.

Description

technical field [0001] The present application relates to the technical field of computer vision measurement, in particular to a camera calibration method for a glue dispensing platform, and also relates to a camera calibration device, equipment and a computer-readable storage medium for a glue dispensing platform. Background technique [0002] The dispensing machine realizes the functions of sealing, assembling, filling, spraying and other functions on the surface and interior of the product by controlling liquids such as adhesives, lubricating fluids, and sealants. It is widely used in electronics, electroacoustics, communications, optics, mechanical hardware and other industries. . [0003] During the gluing process, if the product is slightly deformed, it is necessary to use 3D vision to scan the deformed product to obtain the real shape of the product and guide the glue machine to work. Among them, the 3D camera is integrated on the dispensing machine, and the establis...

AI Technical Summary

Problems solved by technology

In the related technology, two high-definition industrial cameras are used to construct a space coordinate system, and then the workpiece to be processed in the coordinate system is visually recognized and analyzed to obtain the corresponding three-dimensional space coordinates, thereby guiding the dispenser to move along the space trajectory, However, this implementation method has strict requirements on the installation positions of the two cameras, but the installation process relies on manual implementation, resulting in inaccurate camera calibration results.

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