Method and System for Correcting the Spatial Position of a Robot Using a Monocular Camera

Abstract

The present invention provides a method and system for correcting the spatial position of a robot using a monocular camera, including: Step S1: Calibrating a standard calibration block on a target device using a monocular camera; Step S2: The robot takes a picture of the standard calibration image on the target device through the monocular camera, determines the relationship between the camera and the calibration image based on the deformation of the image, and thus adjusts the robot to reach the established spatial position. 4. After the robot moves, there is no need for manual adjustment of the program or points. The robot automatically corrects the spatial position through the monocular camera and automatically offsets all programs and points.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic devices, and more particularly, to a method and system for correcting the spatial position of a robot using a monocular camera. Background Art

[0002] Currently, many production lines use robots for tasks such as material handling. However, production lines do not operate continuously and are idle for a significant amount of time, resulting in wasted robot resources. We aim to make more efficient use of robots by deploying them to where they are needed. However, this may cause positional changes during robot movement, leading to point offset and rendering the program unusable.

[0003] Currently, there are many applications for robot correction using monocular cameras, but most are for planar correction with relatively low accuracy. Additionally, if the calibration block is not within the camera's field of view or the camera cannot recognize the calibration block, positioning offset cannot be performed.

[0004] Patent document CN109176305A (application number: 201811148242.X) discloses a three-dimensional robot correction and positioning device, including a robot, a detection mechanism, a loading and unloading mechanism, a grinding machine, and a control mechanism. The robot, the detection mechanism, the loading and unloading mechanism, and the grinding machine are all connected to the control mechanism. The detection mechanism includes a mounting frame, a laser rangefinder, a contact rangefinder, a photographing device, and a processing device. The mounting frame is provided with a support, a light-shielding chamber, and an instrument chamber. The laser rangefinder, the contact rangefinder, and the photographing device are all arranged in the instrument chamber, and the processing device is arranged on the support. This system can detect and adjust workpieces to prevent the path between the workpiece and the grinding wheel from not coinciding with the set path due to the shape and position tolerances of the workpiece and the errors of the fixture, resulting in defective or scrapped workpieces.

[0005] The present invention can perform spatial correction, has a simple structure, and improves the utilization efficiency and application range of the monocular camera. Summary of the Invention

[0006] Aiming at the deficiencies in the prior art, the purpose of the present invention is to provide a method and system for correcting the spatial position of a robot using a monocular camera.

[0007] According to a method for correcting the spatial position of a robot using a monocular camera provided by the present invention, it includes:

[0008] Step S1: Calibrate the standard calibration block on the target device using a monocular camera;

[0009] Step S2: The robot takes a photo of the standard calibration image on the target device through a monocular camera, and determines the relationship between the camera and the calibration image based on the deformation of the image, so as to adjust the robot to reach the established spatial position.

[0010] Preferably, step S1 adopts:

[0011] Step S1.1: Install the monocular camera on the robot and complete the calibration of the hand-eye system;

[0012] Step S1.2: The monocular camera calibrates the standard calibration block on the target device. When the geometric center of the standard calibration block coincides with the center of the photo, the long and short sides of the standard calibration block are parallel to the edges of the photo, and the lengths of the edge pixels of the standard calibration block in the photo are equal, the calibration of the standard calibration block on the target device by the monocular camera is completed.

[0013] Preferably, after a spatial offset occurs, the robot moves the position and attitude of the robot according to the photo state obtained by the camera so that the photo taken by the camera is the same as that during calibration; the difference between the current coordinates of the robot and the coordinates of the robot during calibration is the offset value of the end effector of the robot after the spatial offset.

[0014] Preferably, step S2 includes:

[0015] If the left and right side lengths of the photo state are not equal, when the left side length is greater than the right side length, the robot tilts the camera to the right; when the right side length is greater than the left side length, the robot tilts the camera to the left;

[0016] If the upper and lower side lengths of the photo state are not equal, when the upper side length is greater than the lower side length, the robot tilts the camera backward; when the lower side length is greater than the upper side length, the robot tilts the camera forward;

[0017] If the photo state is that the upper, lower, left, and right side lengths are equal, the camera is directly above and perpendicular to the standard calibration block. When the side length of each side of the rectangle is greater than the calibrated side length, the robot moves the camera downward; when the side length of each side of the rectangle is less than the calibrated side length, the robot moves the camera upward;

[0018] If the geometric center of the photo state image is not at the center of the photo, the camera center is offset to the left, right, up, or down; then the robot moves the camera to the left, to the right, forward, or backward;

[0019] If the photo state image rotates along the geometric center, the robot rotates the camera clockwise or counterclockwise along the central axis.

[0020] Preferably, by setting different moving speeds according to the difference between the specific size and the calibrated size in the photo taken by the camera, the robot can return to the target position faster.

[0021] Preferably, increasing the size of the calibration block can improve the deviation correction accuracy of the robot.

[0022] A system for correcting the spatial position of a robot using a monocular camera according to the present invention includes:

[0023] Module M1: Calibrating the standard calibration block on the target device using a monocular camera;

[0024] Module M2: The robot takes a photo of the standard calibration image on the target device through the monocular camera, and judges the relationship between the camera and the calibration image according to the deformation of the image, so as to adjust the robot to reach the established spatial position.

[0025] Preferably, the module M1 adopts:

[0026] Module M1.1: Install the monocular camera on the robot and complete the calibration of the eye-in-hand system;

[0027] Module M1.2: The monocular camera calibrates the standard calibration block on the target device. When the geometric center of the standard calibration block coincides with the center of the photo, the long and short sides of the standard calibration block are parallel to the edges of the photo, and the lengths of the edge pixels of the standard calibration block in the photo are equal, the calibration of the standard calibration block on the target device by the monocular camera is completed.

[0028] Preferably, after a spatial offset occurs, the robot moves the position and attitude of the robot according to the photo state obtained by the camera so that the photo taken by the camera is the same as that during calibration; the difference between the current coordinates of the robot and the coordinates of the robot during calibration is the offset value of the end effector of the robot after the spatial offset.

[0029] Preferably, the module M2 includes:

[0030] The left and right side lengths of the photo state are not equal. When the left side length is greater than the right side length, the robot tilts the camera to the right; when the right side length is greater than the left side length, the robot tilts the camera to the left;

[0031] The upper and lower side lengths of the photo state are not equal. When the upper side length is greater than the lower side length, the robot tilts the camera backward; when the lower side length is greater than the upper side length, the robot tilts the camera forward;

[0032] If the photo status has equal side lengths in the up-down, left-right directions, then the camera is directly above and perpendicular to the standard calibration block. When the side lengths of the rectangle are greater than the calibrated side lengths, the robot moves the camera downward; when the side lengths of the rectangle are less than the calibrated side lengths, the robot moves the camera upward;

[0033] When the geometric center of the photo status image is not at the center of the photo, it means the camera center has shifted left-right or up-down; then the robot moves the camera left, right, forward or backward;

[0034] If the photo status image is rotated along the geometric center, then the robot rotates the camera clockwise or counterclockwise along the central axis.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. By adopting the method of calibrating with a robot carrying a monocular camera, it solves the problem that the robot can automatically adjust for small offsets in space;

[0037] 2. To a certain extent, the spatial accuracy can be improved by increasing the camera accuracy and the size of the calibration block.

[0038] 3. It enables the robot with a monocular camera to confirm the position and correct the deviation of the coordinates in space, including the offsets in six directions (X direction, Y direction, Z direction, Rx rotation direction, Ry rotation direction, Rz rotation direction) in the rectangular coordinate system.

[0039] 4. After the robot moves, there is no need for manual adjustment of the program or points. The robot automatically corrects the spatial position through the monocular camera and automatically offsets all programs and points. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objectives and advantages of the present invention will become more apparent:

[0041] Figure 1 It is a schematic diagram of a system for correcting the spatial position of a robot using a monocular camera.

[0042] Figure 2 It is a schematic diagram of a system for correcting the spatial position of a robot using a monocular camera.

[0043] Figure 3 It is a schematic diagram of a captured image.

[0044] Figure 4 It is a schematic diagram of a captured image.

[0045] Figure 5 It is a schematic diagram of a captured image.

[0046] Figure 6 It is a schematic diagram of a captured image.

[0047] Figure 7 It is a schematic diagram of a captured image.

[0048] Figure 8 It is a schematic diagram of a captured image.

[0049] Figure 9 It is a schematic diagram of a captured image.

[0050] Figure 10 It is a schematic diagram of a captured image.

[0051] Figure 11 It is a schematic diagram of a captured image.

[0052] Figure 12 It is a schematic diagram of a captured image.

[0053] Figure 13 It is a schematic diagram of a captured image.

[0054] Figure 14 It is a schematic diagram of a captured image.

[0055] Figure 15 It is a schematic diagram of a captured image. Detailed implementation manners

[0056] The present invention will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several changes and improvements can still be made. These all fall within the protection scope of the present invention.

[0057] Example 1

[0058] According to a method for correcting the spatial position of a robot using a monocular camera provided by the present invention, as Figures 1 to 3 shown, it includes: calibrating a standard calibration block on a target device using a monocular camera; the robot takes a photo of a standard calibration image on the target device through the monocular camera, and judges the relationship between the camera and the calibration image according to the deformation condition of the image, so as to adjust the robot to reach a predetermined spatial position.

[0059] Specifically, it includes:

[0060] Step S1: Install the monocular camera 2 on the robot 1, and complete the calibration of the hand-eye system, so that the XY axis directions defined in the camera field of view are consistent with the XY axis directions of the robot tool coordinate system;

[0061] Specifically, the robot 1 moves from point 1 to point 2 in the X-axis direction, and the moving distance is a fixed value. Then, the line connecting the center points in the photos taken before and after the movement is the X-axis direction of the camera. The pixel value between the center points corresponds to the distance that the robot moves, and the number of pixels per unit distance in the X direction is obtained. Similarly, the number of pixels per unit distance in the Y-axis direction and the Y direction of the camera is obtained.

[0062] Step S2: The monocular camera 2 calibrates the standard calibration block 3 on the target device. When the geometric center of the standard calibration block 3 coincides with the center of the photo, the long and short sides of the standard calibration block 3 are parallel to the edges of the photo, and the pixel lengths of the standard calibration block 3 on the edges in the photo are equal, the calibration of the standard calibration block 3 on the target device by the monocular camera 2 is completed.

[0063] Specifically, when the robot 1 or the standard calibration block 3 is offset, based on the obtained calibration data (the lengths of the long and short sides of the calibration block in the photo taken when the robot with the monocular camera calibrates the calibration block), the position of the end effector of the robot can be moved to a place consistent with the spatial position between the robot and the calibration block, the offset data is obtained, and all the action points of the robot are offset to achieve the purpose of automatic deviation correction.

[0064] Taking a photo of the standard calibration block with the camera on the robot at the calibration position (the center of the camera / photo is aligned with the center of the calibration block, and the camera is perpendicular to the plane of the calibration block), a regular rectangle can be obtained, and the pixel side lengths of each side of the rectangle are measured.

[0065] The following orientations are all described based on the position of the robot.

[0066] We define and measure the rectangle, and measure the pixel distances of the four sides of the rectangle. If the lengths of the left and right sides are not equal, and the length of the left side is greater than the length of the right side, such as Figure 4 , it means that the robot with the camera is tilted to the right; if the length of the right side is greater than the length of the left side, such as Figure 5 , it means that the robot with the camera is tilted to the left.

[0067] Similarly, when the lengths of the upper and lower sides are not equal, and the length of the upper side is greater than the length of the lower side, such as Figure 6 , it means that the robot with the camera is tilted backward; if the length of the lower side is greater than the length of the upper side, such as Figure 7 , it means that the robot with the camera is tilted forward.

[0068] When the lengths of the upper, lower, left, and right sides are pairwise equal, it indicates that the camera is directly above and perpendicular to the calibration block. If the side lengths of the rectangle at this time are greater than the calibrated side lengths (the lengths of the long and short sides of the calibration block in the photo obtained when the robot calibrates the calibration block with a monocular camera (the centers coincide, the edges of the calibration block are parallel to the edges of the photo, and the opposite sides of the calibration block in the photo are equal)), as Figure 8 (The dotted line is the image obtained during calibration), it indicates that the robot has moved the camera downward; conversely, as Figure 9 , it indicates that the robot has moved the camera upward.

[0069] When the geometric center of the image is not at the center of the photo, it means that the camera center has shifted left, right, up, or down. As Figure 10 , it indicates that the robot has moved the camera to the left; as Figure 11 , it indicates that the robot has moved the camera to the right; as Figure 12 , it indicates that the robot has moved the camera forward; as Figure 13 , it indicates that the robot has moved the camera backward.

[0070] When the image is rotated along the geometric center, as Figure 14 , it indicates that the robot has rotated the camera clockwise along the Z-axis (along the central axis, after the hand-eye system is calibrated, the Z-axis direction of the robot's tool coordinate system is the same as the central axis direction of the camera); as Figure 15 , it indicates that the robot has rotated the camera counterclockwise along the Z-axis.

[0071] After a spatial offset occurs, the robot can adjust the position and posture of the robot according to the photo state obtained by the camera, so that the photo taken by the camera is the same as that during calibration. The difference between the coordinates of the robot at this time and the coordinates of the robot during calibration is the offset value of the robot's end effector after the spatial offset.

[0072] Furthermore, different movement speeds can be set according to the difference between the specific dimensions in the photo taken by the camera and the calibrated dimensions, enabling the robot to return to the target position faster.

[0073] Furthermore, using a higher-precision camera or increasing the size of the calibration block can improve the rectification accuracy of the robot.

[0074] The present invention can also solve the situation where different grippers need to be used for operations on different devices by adopting quick replacement of the end effector;

[0075] Furthermore, a mobile trolley is installed on the current robot, and 4 rollers and 4 foot cups are mounted on the mobile trolley. By adopting the mobile trolley with 4 rollers and 4 foot cups, the problem of convenient movement of the trolley (the trolley can move when the foot cups are raised and can be fixed when the foot cups are lowered) is solved;

[0076] Meanwhile, a counterweight can also be installed at the bottom of the mobile vehicle, which solves the problem of overall shaking during the movement of the robot and improves the stability and safety of the robot.

[0077] A method for correcting the spatial position of a robot using a monocular camera according to the present invention, as Figures 1 to 3 shown, includes: calibrating a standard calibration block on a target device using a monocular camera; the robot takes a photo of the standard calibration image on the target device through the monocular camera, and judges the relationship between the camera and the calibration image according to the deformation of the image, so as to adjust the robot to reach the established spatial position.

[0078] Specifically, it includes:

[0079] Step S1: Install the monocular camera 2 on the robot 1 and complete the calibration of the eye-in-hand system, so that the XY axis directions defined in the camera's field of view are consistent with the XY axis directions of the robot's tool coordinate system;

[0080] Specifically, the robot 1 moves from point 1 to point 2 in the X-axis direction, and the movement distance is a fixed value. Then, the line connecting the center point positions in the photos taken before and after the movement is the X-axis direction of the camera. The pixel value between the center points corresponds to the distance of the robot's movement, and the number of pixels per unit distance in the X direction is obtained. Similarly, the Y-axis direction of the camera and the number of pixels per unit distance in the Y direction are obtained.

[0081] Step S2: The monocular camera 2 calibrates the standard calibration block 3 on the target device. When the geometric center of the standard calibration block 3 coincides with the center of the photo, the long and short sides of the standard calibration block 3 are parallel to the edges of the photo, and the pixel lengths of the standard calibration block 3 on the edges in the photo are equal, then the calibration of the standard calibration block 3 on the target device by the monocular camera 2 is completed.

[0082] Specifically, when the robot 1 or the standard calibration block 3 has an offset, through the obtained calibration data (the lengths of the long and short sides of the calibration block in the photo obtained when the robot with the monocular camera calibrates the calibration block), the position of the robot's end effector can be moved to a place consistent with the spatial position between the calibration blocks, and the offset data is obtained, and all the action points of the robot are offset to achieve the purpose of automatic correction.

[0083] Taking a photo of the standard calibration block at the calibration position on the robot (the camera center / photo center is aligned with the center of the calibration block, and the camera is perpendicular to the calibration block plane) can obtain a regular rectangle, and the pixel side lengths of each side of the rectangle are measured.

[0084] The following orientations are all described based on the position of the robot.

[0085] We define and measure a rectangle, measuring the pixel distances of the four sides of the rectangle. If the lengths of the left and right sides are not equal, and the length of the left side is greater than the length of the right side, as Figure 4 , it indicates that the robot is tilting to the right with the camera; if the length of the right side is greater than the length of the left side, as Figure 5 , it indicates that the robot is tilting to the left with the camera.

[0086] Similarly, when the lengths of the upper and lower sides are not equal, and the length of the upper side is greater than the length of the lower side, as Figure 6 , it indicates that the robot is tilting backward with the camera; if the length of the lower side is greater than the length of the upper side, as Figure 7 , it indicates that the robot is tilting forward with the camera.

[0087] When the lengths of the upper, lower, left, and right sides are pairwise equal, it indicates that the camera is directly above the calibration block and perpendicular. If the side lengths of the rectangle at this time are greater than the calibrated side lengths (the lengths of the long and short sides of the calibration block in the photo obtained when the robot calibrates the calibration block with a monocular camera (the centers coincide, the edges of the calibration block are parallel to the edges of the photo, and the opposite sides of the calibration block in the photo are equal)) (pixel values), as Figure 8 (the dotted line is the image obtained during calibration), it indicates that the robot has moved the camera downward; otherwise, as Figure 9 , it indicates that the robot has moved the camera upward.

[0088] When the geometric center of the image is not at the center of the photo, it indicates that the camera center has shifted left, right, up, or down. As Figure 10 , it indicates that the robot has moved the camera to the left; as Figure 11 , it indicates that the robot has moved the camera to the right; as Figure 12 , it indicates that the robot has moved the camera forward; as Figure 13 , it indicates that the robot has moved the camera backward.

[0089] When the image is rotated along the geometric center, as Figure 14 , it indicates that the robot has rotated the camera clockwise along the Z-axis (along the central axis, after the hand-eye system calibration, the Z-axis direction of the robot's tool coordinate system is consistent with the central axis direction of the camera); as Figure 15 , it indicates that the robot has rotated the camera counterclockwise along the Z-axis.

[0090] After a spatial offset occurs, the robot can adjust the position and pose of the robot according to the photo state obtained by the camera, so that the photo taken by the camera is the same as that during calibration. The difference between the coordinates of the robot at this time and the coordinates of the robot during calibration is the offset value of the robot's end effector after the spatial offset.

[0091] Further, different movement speeds can be set according to the difference between the specific size and the calibrated size in the photos taken by the camera, enabling the robot to return to the target position more quickly.

[0092] Further, using a camera with higher precision or increasing the size of the calibration block can improve the deviation correction accuracy of the robot.

[0093] The present invention can also solve the situation of using different grippers for different equipment operations by adopting quick replacement of the end effector;

[0094] Further, a mobile trolley is installed on the current robot, and 4 rollers plus 4 foot cups are mounted on the mobile trolley. By adopting the mobile trolley with 4 rollers plus 4 foot cups, it is convenient for the trolley to move (it can move when the foot cups are raised and can be fixed when the foot cups are lowered);

[0095] At the same time, a counterweight can be installed at the bottom of the mobile trolley to solve the problem of overall shaking during the operation of the robot, and improve the stability and safety of the robot.

[0096] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0097] Those skilled in the art know that in addition to implementing the systems, devices and their respective modules provided by the present invention in the form of pure computer-readable program codes, the method steps can be logically programmed to enable the systems, devices and their respective modules provided by the present invention to be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, embedded microcontrollers, etc. to achieve the same program. Therefore, the systems, devices and their respective modules provided by the present invention can be regarded as a kind of hardware component, and the modules included therein for implementing various programs can also be regarded as the structures within the hardware component; the modules for implementing various functions can also be regarded as either software programs for implementing the methods or the structures within the hardware component.

[0098] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. Without conflict, the embodiments of the present application and the features in the embodiments can be combined arbitrarily.

Claims

1. A method for correcting the spatial position of a robot using a monocular camera, characterized in that, Including: Step S1: Calibrate the standard calibration block on the target device using a monocular camera; Step S2: The robot takes a photo of the standard calibration image on the target device through the monocular camera, and judges the relationship between the camera and the calibration image according to the deformation of the image, so as to adjust the robot to reach the established spatial position; The said Step S1 adopts: Step S1.1: Install the monocular camera on the robot and complete the calibration of the hand-eye system; Step S1.2: The monocular camera calibrates the standard calibration block on the target device. When the geometric center of the standard calibration block coincides with the center of the photo, the long and short sides of the standard calibration block are parallel to the edges of the photo, and the lengths of the edge pixels of the standard calibration block in the photo are equal, then the calibration of the standard calibration block on the target device by the monocular camera is completed; After a spatial offset occurs, the robot moves the position and attitude of the robot according to the photo state obtained by the camera so that the photo taken by the camera is the same as that during calibration; the difference between the current coordinates of the robot and the coordinates of the robot during calibration is the offset value of the end effector of the robot after the spatial offset; The said Step S2 includes: The left and right side lengths of the photo state are not equal. When the length of the left side is greater than the length of the right side, the robot tilts the camera to the right; when the length of the right side is greater than the length of the left side, the robot tilts the camera to the left; The upper and lower side lengths of the photo state are not equal. When the length of the upper side is greater than the length of the lower side, the robot tilts the camera backward; when the length of the lower side is greater than the length of the upper side, the robot tilts the camera forward; The photo state is that the upper, lower, left and right side lengths are equal, then the camera is directly above and perpendicular to the standard calibration block. When the side length of each side of the rectangle is greater than the calibrated side length, the robot moves the camera down; when the side length of each side of the rectangle is less than the calibrated side length, the robot moves the camera up; When the geometric center of the photo state image is not at the center of the photo, it means that the camera center has shifted left, right, up or down; then the robot moves the camera to the left, to the right, forward or backward; When the photo state image rotates along the geometric center, the robot rotates the camera clockwise or counterclockwise along the central axis; By setting different moving speeds according to the difference between the specific size and the calibrated size in the photo taken by the camera, the robot can return to the target position faster; Increase the size of the calibration block to improve the rectification accuracy of the robot.

2. A system for correcting the spatial position of a robot using a monocular camera, characterized in that, Including: Module M1: Calibrate the standard calibration block on the target device using a monocular camera; Module M2: The robot takes a photo of the standard calibration image on the target device through the monocular camera, and judges the relationship between the camera and the calibration image according to the deformation of the image, so as to adjust the robot to reach the established spatial position; The said Module M1 adopts: Module M1.1: Install the monocular camera on the robot and complete the calibration of the hand-eye system; Module M1.2: The monocular camera calibrates the standard calibration block on the target device. When the geometric center of the standard calibration block coincides with the center of the photo, the long and short sides of the standard calibration block are parallel to the edges of the photo, and the lengths of the edges of the standard calibration block in the photo are equal, the calibration of the standard calibration block on the target device by the monocular camera is completed; After a spatial offset occurs, the robot moves the position and pose of the robot based on the photo state obtained by the camera so that the photo taken by the camera is the same as that during calibration; the difference between the current coordinates of the robot and the coordinates of the robot during calibration is the offset value of the end effector of the robot after the spatial offset. The said module M2 includes: For the photo state where the left and right side lengths are unequal, when the left side length is greater than the right side length, the robot tilts the camera to the right; when the right side length is greater than the left side length, the robot tilts the camera to the left; For the photo state where the upper and lower side lengths are unequal, when the upper side length is greater than the lower side length, the robot tilts the camera backward; when the lower side length is greater than the upper side length, the robot tilts the camera forward; For the photo state where the upper, lower, left, and right side lengths are equal, the camera is directly above and perpendicular to the standard calibration block. When the side lengths of each side of the rectangle are greater than the calibrated side lengths, the robot moves the camera downward; when the side lengths of each side of the rectangle are less than the calibrated side lengths, the robot moves the camera upward; When the geometric center of the photo state image is not at the center of the photo, the camera center has shifted left, right, up, or down; then the robot moves the camera left, right, forward, or backward; When the photo state image rotates along the geometric center, the robot rotates the camera clockwise or counterclockwise along the central axis.

Images