Method for calculating five-axis rotation center using visual guidance

Abstract

The application discloses a method for calculating a five-axis rotation center by visual guidance, which comprises the following steps: correcting operation preparation, calculating the X-axis coordinate X0 of the B-axis rotation center, calculating the distance Xd from the B-axis rotation center to the installation plane, calculating the X-axis coordinate X5 of the C-axis rotation center, calculating the offset value X6 of the rotation center between the B-axis and the C-axis, calculating the Y-axis coordinate Y0 of the C-axis rotation center, calculating the Z-axis coordinate Z0 of the B-axis rotation center, finally determining the coordinates of the rotation center of the installation plane according to the calculation results, moving the camera center to the XY mechanical coordinates of the rotation center, and determining that the camera center coincides with the rotation center of the rotary table. The application calculates the five-axis rotation center by visual guidance, makes the camera center cross coordinate system coincide with the edge of the rotary table plane, and obtains the mechanical coordinates of the rotation center through the rotation center calculation formula, so that the position of the rotation center in the camera field of view can be determined, and the rotation center and the camera center can be overlapped.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of visual positioning, in particular to a method for calculating the five-axis rotation center by using visual guidance. BACKGROUND

[0002] With the development of science and technology, five-axis machining is increasingly widely used in various fields such as electronics, automobiles, semiconductors, etc. Traditional rotation center calculation methods include the ball rod method, five-axis calibration method, and manual five-axis calibration method.

[0003] The ball rod method is a commonly used five-axis calibration method, which requires the use of a ball head and a rod. The specific process is as follows: first, place a ball head with a diameter of about 80 mm on the machine tool workbench, then use a clamp to fix the rod on the gantry, and keep the distance between the rod and the ball head at about 30 mm. Next, execute the calibration program, move the ball head along the fixed rod, measure the movement trajectory of the ball head in each direction, and record the data. After calculation and analysis, the rotation center coordinates of each axis can be obtained. This method takes a long time to calibrate and requires professional skills.

[0004] The manual five-axis calibration method has a relatively simple process. First, start from the cutting head, pass through the tool, tool holder, and tool holder, and install the measuring head (stylus) on the spindle head of the machine tool. After the measuring head is fixed, fine adjustment is required to finally meet the requirements of in-plane measurement. During calibration, multiple measurements are required, each time changing the position of one rotation axis and the position and speed of other axes, recording the corresponding data, and calculating and analyzing to obtain the rotation center coordinates of each axis. This method has slightly lower calibration accuracy and is not suitable for high-precision machining occasions.

[0005] At the same time, the above methods can only obtain the mechanical coordinates of the rotation center, and cannot guarantee that it coincides with the camera center and the product reference point, making it impossible to accurately position the product position during visual positioning of the equipment. SUMMARY

[0006] The purpose of the present application is to solve the above problems, and a method for calculating the five-axis rotation center by using visual guidance and a dispensing method are designed. The rotation center obtained by the traditional rotation center calculation method cannot coincide with the center of the camera field of view, which improves the accuracy of subsequent product visual positioning and product processing.

[0007] To achieve the above purpose, the technical solution of the present application is a method for calculating the five-axis rotation center by using visual guidance, comprising:

[0008] S1, correction operation preparation: a coordinate system including X axis, Y axis, Z axis, B axis and C axis is established, wherein the X axis, Y axis and Z axis are straight axes, and the B axis and C axis are rotary axes; a cross reference line X line and Y line are established at the center of the camera field of view, the X line and Y line are respectively parallel to the X axis and Y axis in the coordinate system, and the levelness of the mounting plane located on the C axis turntable is corrected;

[0009] S2, calculating the X axis coordinate X0 of the B axis rotation center: the B axis and C axis are zeroed, the B axis is rotated by ±90°, the XYZ axis is moved, the mounting plane in the camera picture is made to coincide with the camera Y line, the mechanical coordinates X1 and X2 of the mounting plane when rotated by ±90° are recorded respectively, and the intermediate value between X1 and X2 is calculated as the mechanical coordinate X0 of the B axis rotation center on the X axis;

[0010] S3, calculating the distance Xd from the B axis rotation center to the mounting plane: the distance from the B axis rotation center to the mounting plane is calculated by the formula Xd=(X2-X1) / 2;

[0011] S4, calculating the X axis coordinate X5 of the C axis rotation center: the B axis and C axis are zeroed, the C axis is rotated by ±90°, the XYZ axis is moved, a feature point is selected on the mounting plane, and the selected feature point on the mounting plane in the camera picture is made to coincide with the camera Y line, the mechanical coordinates X3 and X4 of the selected feature point when rotated by ±90° are recorded respectively, and the intermediate value between X3 and X4 is calculated as the mechanical coordinate X5 of the C axis rotation center on the X axis;

[0012] S5, calculating the offset value X6 of the rotation center between the B axis and C axis: the offset value of the C axis rotation center and the B axis rotation center on the X axis direction is calculated by the formula X6=X5-X0;

[0013] S6, calculating the Y axis coordinate Y0 of the C axis rotation center: the B axis and C axis are zeroed, the C axis is rotated by 0° and 180° in sequence, the XYZ axis is moved, a feature point is selected on the mounting plane, and the selected feature point on the mounting plane in the camera picture is made to coincide with the camera X line, the mechanical coordinates Y1 and Y2 of the selected feature point when rotated by 0° and 180° are recorded respectively, and the intermediate value between Y1 and Y2 is calculated as the mechanical coordinate Y0 of the C axis rotation center on the Y axis;

[0014] S7, calculating the Z axis coordinate Z0 of the B axis rotation center: the B axis and C axis are zeroed, the XYZ axis is moved, the distance Z1 between the lower surface of the needle valve and the mounting plane is measured, and the Z axis mechanical coordinate is calculated by the formula Z0=Z1+Xd;

[0015] S8, zero the B-axis, C-axis, and Z-axis, determine the coordinates of the rotation center of the mounting plane according to the calculation results, and move the camera center to the XY mechanical coordinates of the rotation center to determine that the camera center coincides with the rotation center of the turntable.

[0016] Preferably, step S2 comprises:

[0017] S201, zero the B-axis and C-axis, rotate the B-axis by -90°, move the XYZ axes so that the edge of the mounting plane in the camera image is clear and coincides with the camera Y line, and record the X-axis mechanical coordinate X1 corresponding to the mounting plane when it is rotated by -90°;

[0018] S202, zero the B-axis and C-axis, rotate the B-axis by +90°, move the XYZ axes so that the edge of the mounting plane in the camera image is clear and coincides with the camera Y line, and record the X-axis mechanical coordinate X2 corresponding to the mounting plane when it is rotated by +90°;

[0019] S203, calculate the X-axis mechanical coordinate of the B-axis rotation center by the formula X0= (X2-X1) / 2+X1.

[0020] Preferably, step S4 comprises:

[0021] S401, zero the B-axis and C-axis, rotate the C-axis by +90°, move the XYZ axes, select a feature point on the mounting plane, so that the selected feature point on the mounting plane in the camera image is clear and coincides with the camera Y line, and record the X-axis mechanical coordinate X3 corresponding to the selected feature point when it is rotated by 90°;

[0022] S402, zero the B-axis and C-axis, rotate the C-axis by -90°, move the XYZ axes so that the selected feature point on the mounting plane in the camera image is clear and coincides with the camera Y line, and record the X-axis mechanical coordinate X4 corresponding to the selected feature point when it is rotated by -90°;

[0023] S403, calculate the X-axis mechanical coordinate of the B-axis rotation center by the formula X5= (X4-X3) / 2+X3.

[0024] Preferably, step S6 comprises:

[0025] S601, zero the B-axis and C-axis, move the XYZ axes, select a feature point on the mounting plane, and make the selected feature point on the mounting plane in the camera image clear and coincide with the camera X line, and record the mechanical coordinate Y1 on the Y-axis corresponding to the selected feature point when it is rotated by 0°;

[0026] S602, zero the B-axis and C-axis, rotate the C-axis by 180°, move the XYZ axes so that the selected feature point on the mounting plane in the camera image is clear and coincides with the camera X line, and record the mechanical coordinate Y2 on the Y-axis corresponding to the selected feature point when it is rotated by 180°.

[0027] S603, calculating the C-axis rotation center Y-axis mechanical coordinate by the formula Y0=(Y2-Y1) / 2+Y1.

[0028] Preferably, if X6<0 and X0>X5 in step S5, it indicates that the C-axis rotation center is on the right side of the B-axis rotation center, then the X-axis coordinate X5 of the C-axis rotation center is moved by the absolute value of X6 in the positive direction of the X-axis based on the X-axis coordinate of the B-axis rotation center.

[0029] If X6>0 and X0X5, it indicates that the C-axis rotation center is on the left side of the B-axis rotation center, then the X-axis coordinate X5 of the C-axis rotation center is moved by the absolute value of X6 in the negative direction of the X-axis based on the X-axis coordinate of the B-axis rotation center.

[0030] Preferably, the X-line and the Y-line are the lines connecting the relative edge midpoints of the camera resolution.

[0031] Compared with the prior art, the method has the beneficial effects that:

[0032] The method for determining the five-axis rotation center of the application is to calculate the five-axis rotation center by visual guidance, first calculate the difference between the X-axis coordinates of the B-axis rotation center and the C-axis rotation center, and then determine the X-axis coordinate of the final rotation center according to the size of the difference, and then calculate the coordinate of the C-axis rotation center on the Y-axis, so as to determine the XY-axis coordinate of the final rotation center. When calculating, the camera center cross coordinate system is made to coincide with the edge of the rotary table plane, and through the rotation center calculation formula, not only the mechanical coordinate of the rotation center can be obtained, but also the position of the rotation center in the camera field of view can be determined, which is convenient for the coincidence of the rotation center and the camera center. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 is the reference diagram of the coordinate system in the application;

[0034] Figure 2 is the definition diagram of the rotation direction of the B-axis and the C-axis;

[0035] Figure 3 is the reference diagram of the camera field of view;

[0036] Figure 4 is the schematic diagram when calculating the X-axis coordinate of the B-axis rotation center;

[0037] Figure 5 is the schematic diagram when calculating the X-axis coordinate of the C-axis rotation center;

[0038] Figure 6 is the schematic diagram when calculating the Y-axis coordinate of the C-axis rotation center;

[0039] Figure 7This is a schematic diagram for calculating the Z-axis coordinate of the rotation center of the B-axis.

[0040] In the diagram, 1. X-axis linear module; 2. Z-axis lifting module; 3. Y-axis linear module; 4. B-axis rotary module; 5. C-axis rotary module; 6. Mounting plane; 7. Camera; 8. Laser sensor. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 As shown, a preferred embodiment of the present invention proposes a method for calculating the five-axis rotation center using vision guidance. The method uses a vision camera 7 to record coordinate parameters and analyzes and calculates the coordinate parameters to calculate the rotation center.

[0043] This method uses five motion modules: X-axis linear module 1, Y-axis linear module 3, Z-axis lifting module 2, B-axis rotation module 4, and C-axis rotation module 5. The vision camera 7 and the dispensing valve assembly are mounted on the Z-axis lifting module 2, which is mounted on the X-axis linear module 1. The Y-axis linear module 3 is located below the X-axis linear module 1 and perpendicular to it. The B-axis rotation module 4 is mounted on the Y-axis linear module 3, and the C-axis rotation module 5 is mounted on the B-axis rotation module 4. A square body is mounted on the C-axis rotation module 5. The square body is a regular quadrilateral with a mounting plane 6 on its upper surface and four sides that are also flat.

[0044] First, establish a coordinate system and define its positive and negative directions. This embodiment refers to... Figure 1 The XYZ axis movement direction is positive, with the arrow direction shown in the figure as the positive direction, and all mechanical coordinates are positive values.

[0045] Define the center of camera 7 for visual camera 7. For example... Figure 3 As shown, the field of view of camera 7 is a rectangle. Half the resolution of camera 7 is located at the center of camera 7. Each side of the rectangle has several pixels. The product of the length and width of the rectangle is the resolution of camera 7. Taking the midpoints of two opposite sides of the rectangle and connecting them forms two intersecting straight lines. These two lines form coordinate lines, namely the X-line and the Y-line. The intersection of the X-line and the Y-line coincides with the center of camera 7. The X-line is parallel to the X-axis of the coordinate system, and the Y-line is parallel to the Y-axis of the coordinate system.

[0046] Before formal operation, the levelness of mounting plane 6 is calibrated, and then the coordinates of the rotation center are calculated. The sign of the rotation direction is as follows:Figure 2 as shown.

[0047] 1. Refer to Figure 4 , calculate the X-axis coordinate of the B-axis rotation center

[0048] 1.1, after the B-axis and C-axis are zeroed, the B-axis is rotated -90°, and the XYZ axis is moved so that the edge of the mounting plane 6 on the C-axis turntable plane in the camera 7 picture is clearest and coincides with the Y line of the camera 7, and the X-axis mechanical coordinate X1 is recorded.

[0049] 1.2, after the B-axis and C-axis are zeroed, the B-axis is rotated 90°, and the XYZ axis is moved so that the edge of the mounting plane 6 on the C-axis turntable plane in the camera 7 picture is clearest and coincides with the Y line of the camera 7, and the X-axis mechanical coordinate X2 is recorded.

[0050] 1.3, calculate the X-axis mechanical coordinate of the B-axis rotation center by the formula X0=(X2-X1) / 2+X1, and X0 is the X-axis coordinate of the B-axis rotation center.

[0051] 1.4, calculate the distance from the B-axis rotation center to the mounting plane 6 by the formula Xd=(X2-X1) / 2, and the absolute value of Xd is the distance from the B-axis rotation center to the mounting plane 6.

[0052] 2. Refer to Figure 5 , calculate the X-axis coordinate of the C-axis rotation center

[0053] 2.1, after the B-axis and C-axis are zeroed, the C-axis is rotated 90°, and the XYZ axis is moved so that the selected detection point ▲ on the mounting plane 6 on the C-axis in the camera 7 picture is clearest and coincides with the Y line of the camera 7, and the X-axis mechanical coordinate X3 is recorded.

[0054] 2.2, after the B-axis and C-axis are zeroed, the C-axis is rotated -90°, and the XYZ axis is moved so that the selected detection point ▲ on the mounting plane 6 on the C-axis in the camera 7 picture is clearest and coincides with the Y line of the camera 7, and the X-axis mechanical coordinate X4 is recorded.

[0055] 2.3, calculate the X-axis mechanical coordinate of the C-axis rotation center by the formula X5=(X4-X3) / 2+X3, and X5 is the X-axis coordinate of the C-axis rotation center.

[0056] 3. Calculate the offset value of the B-axis and C-axis rotation centers

[0057] Calculate the offset value of the C-axis rotation center and the B-axis rotation center on the X-axis by the formula X6=X5-X0. According to the size of the offset value, the offset direction of the C-axis rotation center can be determined, and the X-axis coordinate of the C-axis rotation center is compensated according to the offset value.

[0058]

[0059] Table 1

[0060] Note: When the X-axis coordinate of the rotation center of the C-axis is offset from the X-axis coordinate of the rotation center of the B-axis, the X-axis coordinate of the rotation center of the C-axis should be moved to the X-axis coordinate of the rotation center of the B-axis.

[0061] 4. Refer to Figure 6 to calculate the Y-axis coordinate of the rotation center of the C-axis

[0062] 4.1. After the B-axis and the C-axis are zeroed, move the XYZ axis so that the selected detection point▲on the mounting plane 6 on the C-axis in the camera 7 picture is clearest and coincides with the X-ray of the camera 7, and record the Y-axis mechanical coordinate Y1.

[0063] 4.2. After the B-axis and the C-axis are zeroed, rotate the C-axis by 180°, move the XYZ axis so that the selected detection point▲on the mounting plane 6 on the C-axis in the camera 7 picture is clearest and coincides with the X-ray of the camera 7, and record the Y-axis mechanical coordinate Y2.

[0064] 4.3. Calculate the Y-axis mechanical coordinate of the rotation center of the C-axis by the formula Y0=(Y2-Y1) / 2+Y1, and Y0 is the Y-axis coordinate of the rotation center of the C-axis.

[0065] 5. Refer to Figure 7 to calculate the Z-axis coordinate of the rotation center of the B-axis

[0066] 5.1. After the B-axis and the C-axis are zeroed, move the XYZ axis, and indirectly measure the distance between the lower surface of the needle valve and the mounting plane 6 by the distance between the laser sensor 8 and the mounting plane 6, and record the Z-axis mechanical coordinate Z1.

[0067] Since the lower surface of the needle valve cannot be directly in contact with the mounting plane 6 during detection, in this example, the lower surface of the laser sensor 8 is flush with the lower surface of the needle valve, and the distance between the lower surface of the needle valve and the mounting plane 6 can be obtained by measuring the distance between the laser sensor 8 and the mounting plane 6.

[0068] 5.2. Calculate the Z-axis mechanical coordinate of the rotation center by the formula Z0=Z1+Xd, and the absolute value of Z0 is the distance between the lower surface of the needle valve and the rotation center of the B-axis.

[0069] The detection points and feature points described above can be any point in the mounting plane. It should be noted that when the XYZ axis is moved, the XY coordinates of the rotation centers of the B-axis and the C-axis are dynamically changing, so dynamic calculation is required when determining the coordinates X1, X2, X3, X4, Y1, and Y2.

[0070] According to the calculated results: offset value X6, the coordinate of the rotation center of the C shaft in the X axis direction is compensated, the X axis coordinate of the rotation center is determined, then the Y axis coordinate Y0 of the rotation center of the C shaft is determined, and the rotation center coordinate of the mounting plane 6 is determined, and the center of the camera 7 is moved to the XY mechanical coordinates of the rotation center, so that the center of the camera 7 coincides with the rotation center of the turntable, and the distance between the needle valve and the B shaft rotation center is determined according to the Z axis coordinate Z0 of the B shaft rotation center.

[0071] The above technical solution only embodies the preferred technical solution of the technical solution of the present application, and some changes made by the person skilled in the art to some parts thereof also embody the principle of the present application and are within the protection scope of the present application.

Claims

1. A method for calculating five-axis rotation center using visual guidance for product dispensing, characterized in that, The method comprises the following steps: S1, a coordinate system comprising X-axis, Y-axis, Z-axis, B-axis and C-axis is established, wherein the X-axis, Y-axis and Z-axis are linear axes, and the B-axis and C-axis are rotary axes; an X-axis linear module (1), a Y-axis linear module (3), a Z-axis lifting module (2), a B-axis rotary module (4) and a C-axis rotary module (5) are included; the X-axis, Y-axis and Z-axis are linear axes, and the B-axis and C-axis are rotary axes; a vision camera (7) and a glue valve assembly are both installed on the Z-axis lifting module (2); the Z-axis lifting module (2) is installed on the X-axis linear module (1); the Y-axis linear module (3) is located below the X-axis linear module (1) and is perpendicular to the X-axis linear module (1); the B-axis rotary module (4) is installed on the Y-axis linear module (3); the C-axis rotary module (5) is installed on the B-axis rotary module (4); a square body is installed on the C-axis rotary module (5); the square body is a regular quadrilateral, and the upper surface of the square body is a mounting plane (6); the four sides of the square body are also planes; then a cross reference line X line and a cross reference line Y line are established at the center of the camera field of view; the X line and the Y line are parallel to the X-axis and the Y-axis of the coordinate system respectively; and the levelness of the mounting plane on the C-axis rotary table is corrected; S2, the X-axis coordinate X0 of the B-axis rotary center is calculated: the B-axis and the C-axis are zeroed, the B-axis is rotated by ±90°, the XYZ axes are moved, the mounting plane in the camera image is made to coincide with the camera Y line, the mechanical coordinates X1 and X2 of the mounting plane corresponding to the rotation of ±90° are recorded respectively, and the intermediate value between X1 and X2 is calculated as the mechanical coordinate X0 of the B-axis rotary center on the X-axis; S3, the distance Xd from the B-axis rotary center to the mounting plane is calculated: the distance is calculated by the formula Xd=(X2-X1) / 2; S4, the X-axis coordinate X5 of the C-axis rotary center is calculated: the B-axis and the C-axis are zeroed, the C-axis is rotated by ±90°, the XYZ axes are moved, a feature point is selected on the mounting plane, the selected feature point on the mounting plane in the camera image is made to coincide with the camera Y line, the mechanical coordinates X3 and X4 of the selected feature point corresponding to the rotation of ±90° are recorded respectively, and the intermediate value between X3 and X4 is calculated as the mechanical coordinate X5 of the C-axis rotary center on the X-axis; S5, the offset value X6 of the rotary center between the B-axis and the C-axis is calculated: the offset value is calculated by the formula X6=X5-X0; S6, the Y-axis coordinate Y0 of the C-axis rotary center is calculated: the B-axis and the C-axis are zeroed, the C-axis is rotated by 0° and 180° in sequence, the XYZ axes are moved, a feature point is selected on the mounting plane, the selected feature point on the mounting plane in the camera image is made to coincide with the camera X line, the mechanical coordinates Y1 and Y2 of the selected feature point corresponding to the rotation of 0° and 180° are recorded respectively, and the intermediate value between Y1 and Y2 is calculated as the mechanical coordinate Y0 of the C-axis rotary center on the Y-axis. S7, calculate the Z-axis coordinate Z0 of the B-axis rotation center: zero the B-axis and C-axis, move the XYZ axis, and indirectly measure the distance between the lower surface of the needle valve and the mounting plane (6) through the distance between the laser sensor (8) and the mounting plane (6), record the Z-axis mechanical coordinate Z1 when the lower surface of the laser sensor (8) is flush with the lower surface of the needle valve, and then calculate the Z-axis mechanical coordinate by the formula Z0=Z1+Xd; S8, zero the B-axis, C-axis and Z-axis, determine the coordinates of the rotation center of the mounting plane according to the calculation results, and move the camera center to the XY mechanical coordinates of the rotation center to determine that the camera center coincides with the rotation center of the turntable, and determine the distance between the needle valve and the B-axis rotation center according to the Z-axis coordinate Z0 of the B-axis rotation center when dispensing.

2. The method for calculating the five-axis center of rotation using visual guidance according to claim 1, wherein, Step S2 includes: S201, zero the B-axis and C-axis, rotate the B-axis by -90°, move the XYZ axis, make the edge of the mounting plane in the camera picture clear and coincide with the camera Y line, and record the X-axis mechanical coordinate X1 corresponding to the mounting plane when it is turned by -90°; S202, zero the B-axis and C-axis, rotate the B-axis by +90°, move the XYZ axis, make the edge of the mounting plane in the camera picture clear and coincide with the camera Y line, and record the X-axis mechanical coordinate X2 corresponding to the mounting plane when it is turned by +90°; S203, calculate the B-axis rotation center X-axis mechanical coordinate by the formula X0=(X2-X1) / 2+X1.

3. The method of claim 1, wherein, Step S4 includes: S401, zero the B-axis and C-axis, rotate the C-axis by +90°, move the XYZ axis, select a feature point on the mounting plane, make the selected feature point on the mounting plane in the camera picture clear and coincide with the camera Y line, and record the X-axis mechanical coordinate X3 corresponding to the selected feature point when it is turned by 90°; S402, zero the B-axis and C-axis, rotate the C-axis by -90°, move the XYZ axis, make the selected feature point on the mounting plane in the camera picture clear and coincide with the camera Y line, and record the X-axis mechanical coordinate X4 corresponding to the selected feature point when it is turned by -90°; S403, calculate the B-axis rotation center X-axis mechanical coordinate by the formula X5=(X4-X3) / 2+X3.

4. The method for calculating the five-axis center of rotation using visual guidance of claim 1, wherein, Step S6 includes: S601, zero the B-axis and C-axis, move the XYZ axis, select a feature point on the mounting plane, and make the selected feature point on the mounting plane in the camera picture clear and coincide with the camera X line, record the mechanical coordinate Y1 of the selected feature point on the Y-axis when it is turned by 0°; S602, zero the B-axis and C-axis, rotate the C-axis by 180°, move the XYZ axis, make the selected feature point on the mounting plane in the camera picture clear and coincide with the camera X line, and record the mechanical coordinate Y2 of the selected feature point on the Y-axis when it is turned by 180°; S603, calculate the C-axis rotation center Y-axis mechanical coordinate by the formula Y0=(Y2-Y1) / 2+Y1.

5. The method for calculating the five-axis center of rotation using visual guidance according to claim 1, wherein, If X6<0 and X0>X5 in step S5, it indicates that the C-axis rotation center is on the right side of the B-axis rotation center, then move the X-axis coordinate X5 of the C-axis rotation center to the positive direction of the X-axis by the absolute value distance of X6 based on the X-axis coordinate of the B-axis rotation center. If X6>0 and X0X5, it indicates that the rotation center of the C shaft is on the left side of the rotation center of the B shaft, and the X axis coordinate X5 of the rotation center of the C shaft is moved by the absolute value of X6 in the negative direction of the X axis with the X axis coordinate of the rotation center of the B shaft as the reference.

6. The method for calculating the five-axis center of rotation using visual guidance of claim 1, wherein, The X line and the Y line are lines connecting the relative edge midpoints of the camera resolution.

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