Coordinate system coincidence calibration method and system

A coincidence calibration and coordinate system technology, which is applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of large error range and difficult to guarantee the accuracy of assembly, so as to improve the coincidence precision, precise coordinate system conversion relationship, reduce effect of error

Active Publication Date: 2021-10-22
SUZHOU DINNAR TECH FOR AUTOMATION CO LTD
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However, this method has a large error range, and it is difficult to

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  • Coordinate system coincidence calibration method and system
  • Coordinate system coincidence calibration method and system

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[0029] In order to describe the technical solution of the above invention in more detail, specific examples are listed below to demonstrate the technical effect; it should be emphasized that these examples are used to illustrate the present invention and not limit the scope of the present invention.

[0030] For the coordinate system coincidence calibration method provided by this invention, please refer to figure 1 , the method includes:

[0031] Step 1: Obtain a first coordinate system based on the structure of the robot, use a 2D camera to capture an image of the robot, and obtain a second coordinate system based on the image. In this embodiment, the first coordinate system is a three-dimensional coordinate system, and the second coordinate system is The two-coordinate system is a two-dimensional coordinate system.

[0032] Step 2: Obtain 3 to 5 calibration points and the coordinate values ​​of the calibration points in the second coordinate system from the image, any thre...

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Abstract

The invention relates to a coordinate system coincidence calibration method and system. The method comprises the steps that a first coordinate system is acquired based on the structure of a robot, and a second coordinate system is acquired based on a shot image of the robot; calibration points are acquired from the image, and any three of the calibration points can form an isosceles triangle; the robot is made to translate at equal intervals, and translation matrixes of the first coordinate system and the second coordinate system are calculated based on a first set of acquired calibration data and a second set of acquired calibration data; the robot is made to rotate, and rotation matrixes of the first coordinate system and the second coordinate system are calculated based on a third set of acquired calibration data and a fourth set of acquired calibration data; a feature point on a certain image is acquired, and an estimated coordinate value of the feature point on the second coordinate system is calculated; an actual coordinate value of the feature point is obtained through measurement; and the estimated coordinate value and the actual coordinate value are compared to reversely verify the accuracy of the translation matrixes and the rotation matrixes. Through the coordinate system coincidence calibration method and system, errors of an image vision system can be reduced, the coincidence degree of a camera coordinate system and a robot coordinate system is increased, and then part assembling precision is improved.

Description

technical field [0001] The invention relates to the technical field of coordinate system calibration, in particular to a coordinate system coincidence calibration method and system. Background technique [0002] In industries such as 3C electronics and automobiles, there are usually some parts that need to be assembled. To ensure smooth assembly, two coordinate systems need to be overlapped, such as the coordinate system of the camera and the coordinate system of the robot. However, in some scenarios, due to installation and structural problems, the conventional coordinate system coincidence calibration method will have certain limitations. For example, the installation method of the camera is not parallel or the position of the robot is not concentric with the product, etc., which will lead to accurate assembly. Sexual decline. In order to improve the accuracy of assembly parts during production, it is necessary to improve the calibration accuracy of the coordinate system ...

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Application Information

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IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1687B25J9/1653B25J9/161
Inventor 李安秦应化
Owner SUZHOU DINNAR TECH FOR AUTOMATION CO LTD
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