A method and system for high-precision positioning of brush tip based on binocular vision

Abstract

The present application discloses a method and system for high-precision positioning of a brush tip based on binocular vision, the method comprising acquiring an infrared optical camera and a calibration plate, establishing a camera spatial position rectangular coordinate system according to the calibration plate and the binocular vision camera, calibrating the binocular vision camera based on the infrared optical camera and the calibration plate, calculating the internal and external parameters of the binocular vision camera, and outputting a camera calibration completion result; after receiving the camera calibration completion result, calibrating the brush tip to be tested, and outputting a brush tip calibration completion signal; acquiring a mechanical arm, establishing a mechanical arm spatial position rectangular coordinate system based on the mechanical arm, and converting the camera spatial position rectangular coordinate system coordinates to the mechanical arm spatial position rectangular coordinate system; real-time tracking of the brush tip to be tested, outputting real-time parameter information of the brush tip, and recording and caching the real-time parameter information of the brush tip. The present application has the effect of improving the positioning accuracy of the brush tip.

Description

Technical Field

[0001] The present application relates to the field of binocular vision technology, and in particular to a method and system for high-precision positioning of a brush tip based on binocular vision. Background Art

[0002] At present, binocular vision technology is a form of machine vision based on the principle of parallax. It uses two cameras to obtain images of an object from different positions and calculates the parallax between these images to obtain the three-dimensional information of the object. Applying binocular vision technology to the positioning of the brush tip is crucial for high-precision positioning of the brush tip.

[0003] The existing method of high-precision positioning of the brush tip refers to driving a robotic arm to write according to a preset trajectory. However, the existing method of high-precision positioning of the brush tip does not take into account the flexibility of the brush. The flexibility of the brush causes the brush tip to deform significantly during the writing process. The brush tip cannot be positioned and tracked, and the writing effect is greatly affected by the flexibility of the brush. The accuracy of positioning the brush tip is low, and there is room for improvement. Summary of the invention

[0004] In order to improve the accuracy of positioning the brush tip, the present application provides a method and system for high-precision positioning of the brush tip based on binocular vision.

[0005] In the first aspect, the present application provides a method for high-precision positioning of a brush tip based on binocular vision, which adopts the following technical solution:

[0006] A method for high-precision positioning of a brush tip based on binocular vision comprises the following steps:

[0007] Obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system for the camera's spatial position according to the calibration plate and the binocular vision camera, calibrate the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the intrinsic and extrinsic parameters of the binocular vision camera, and output the camera calibration completion result;

[0008] After receiving the camera calibration completion result, calibrate the brush tip to be tested, and output a brush tip calibration completion signal;

[0009] Obtain a robotic arm, establish a rectangular coordinate system for the robotic arm's spatial position based on the robotic arm, and convert the coordinates of the rectangular coordinate system for the camera's spatial position into the rectangular coordinate system for the robotic arm's spatial position;

[0010] Track the brush tip to be tested in real time, output real-time parameter information of the brush tip, and record and cache the real-time parameter information of the brush tip;

[0011] The writing of the brush tip to be tested is judged according to the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and according to the brush tip writing judgment result, it is determined whether the operation of the robot arm needs to be adjusted, and if necessary, the drive adjustment is performed.

[0012] Preferably, an infrared optical camera and a calibration plate are obtained, and a signal connection is established between the infrared optical camera and the calibration plate;

[0013] The initial positions of the infrared optical camera, the binocular vision camera, and the calibration plate are set to obtain the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate, respectively, and the infrared optical camera, the binocular vision camera, and the calibration plate are placed according to the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate;

[0014] According to the calibration plate and the binocular vision camera, a rectangular coordinate system of the camera space position is created, and the center of gravity position of the binocular vision camera is set at the midpoint position of the binocular vision camera baseline;

[0015] The infrared optical camera photographs the calibration plate to obtain image information photographed by the infrared optical camera, wherein the infrared light source emitted by the infrared optical camera is uniformly irradiated onto the calibration plate, a circular sticker is affixed to the calibration plate, and the circular sticker reflects the infrared light source emitted by the infrared optical camera;

[0016] The position of the circular sticker on the calibration plate is extracted based on the image information taken by the infrared optical camera to obtain the calibration point position information.

[0017] Preferably, the binocular vision camera is moved, and the calibration plate is continuously photographed during the movement of the binocular vision camera to obtain a plurality of calibration plate photographed image information;

[0018] According to the calibration point position information, the camera calibration algorithm is used to determine the internal parameter matrix of the binocular vision camera, and the internal parameter determination result is output;

[0019] Determine the rotation matrix information of the binocular vision camera and the translation vector information of the binocular vision camera according to the calibration point position information and the image information captured by the multiple calibration plates;

[0020] According to the rotation matrix information and the translation vector information of the binocular vision camera, the external parameter matrix of the binocular vision camera is determined, and the external parameter determination result is output;

[0021] After receiving the internal parameter determination result and the external parameter determination result, the camera calibration completion result is output.

[0022] Preferably, after receiving the camera calibration completion result, a calibration pen tip fixture is obtained, wherein the calibration pen tip fixture comprises a pen tip calibration plate, a plurality of first reflective marking balls, and a slender needle tip part, wherein the pen tip calibration plate is arranged in a square shape, the plurality of first reflective marking balls are distributed on the pen tip calibration plate and are asymmetrically placed, and one end of the slender needle tip part is connected to a corner of the pen tip calibration plate;

[0023] Obtain a writing brush tracking fixture, the writing brush tracking fixture comprising a tree-shaped tracking device and a plurality of second reflective marking balls, the tree-shaped tracking device is arranged at the tail of the writing brush to be tested, the tip of the writing brush to be tested is connected to the other end of the slender needle tip part, the second reflective marking balls are arranged at the tail end of the tree-shaped tracking device, and the number of the second reflective marking balls is the same as the number of the first reflective marking balls;

[0024] A calibration pen tip fixture is added as a rigid body, and the calibration pen tip fixture is tracked and positioned in real time to obtain the position information of the calibration pen tip fixture. A brush tracking fixture is added as a rigid body, and the brush tracking fixture is tracked and positioned in real time to obtain the position information of the brush tracking fixture.

[0025] Preferably, the geometric center position of the calibration pen tip fixture is marked as the center of gravity position of the rigid body, and six-degree-of-freedom information of the center of gravity position of the rigid body is output based on the position information of the calibration pen tip fixture and the center of gravity position of the rigid body;

[0026] Based on the six-degree-of-freedom information of the center of gravity of the rigid body, a slender needle tip part is used to fix the brush tip to be tested and the fixed position of the brush tip to be tested is marked as a brush tip fixed point;

[0027] The calibration pen tip fixture is rotated around the pen tip fixed point, and the image information of the rotating marker balls is obtained by collecting images of the multiple first reflective marker balls during the rotation process based on the binocular vision camera. The pen tip of the brush to be tested is calibrated based on the rotating marker ball image information, and a pen tip calibration completion signal is output. The center of gravity of the calibration pen tip fixture is the pen tip fixed point;

[0028] The brush tracking jig is photographed based on a binocular vision camera to obtain image information of the brush tracking jig. Based on the image information of the brush tracking jig, the brush tracking jig locates the tip of the brush to be tested to obtain the tip position information.

[0029] Preferably, a robotic arm is acquired and a signal connection link is established between the robotic arm and the binocular vision camera, and a rectangular coordinate system of the spatial position of the robotic arm is established based on the robotic arm;

[0030] Starting the robotic arm to make it stop at a plurality of preset marking positions, and outputting a robotic arm stop signal when the robotic arm stops;

[0031] After receiving the robot arm stop signal, the image of the brush tip to be tested is collected and located based on the binocular vision camera to obtain the position information of the robot arm stop tip;

[0032] Based on the position information of the brush tip where the robot arm stops and the rectangular coordinate system of the camera space position, it is determined that when the robot arm stops at the preset mark position, the position coordinates of the brush tip to be tested in the rectangular coordinate system of the camera space are obtained to obtain the camera brush tip position coordinate information;

[0033] Based on the mechanical arm's pen tip position information and the mechanical arm's spatial position rectangular coordinate system, it is determined that when the mechanical arm stops at the preset mark position, the position coordinates of the brush tip to be tested when the mechanical arm stops at the preset mark position obtain the mechanical arm's pen tip position coordinate information;

[0034] According to the camera pen tip position coordinate information and the robot arm pen tip position coordinate information, the camera space position rectangular coordinate system is converted to the robot arm space position rectangular coordinate system.

[0035] Preferably, based on the image information of the brush tracking fixture, the brush tracking fixture tracks the brush tip to be tested to obtain real-time parameter information of the brush tip, and the real-time parameter information of the brush tip includes real-time position information of the brush tip and rotation information of the brush tip;

[0036] The real-time position information of the brush tip and the rotation information of the brush tip are recorded and cached.

[0037] Preferably, according to the real-time position information of the brush tip and the rotation information of the brush tip, it is judged whether the writing of the brush tip to be tested is reasonable, if it is reasonable, the reasonable writing result of the brush tip is output, if it is unreasonable, the unreasonable writing result of the brush tip is output;

[0038] The reasonable pen tip writing result and the unreasonable pen tip writing result are combined to form a pen tip writing judgment result;

[0039] When a reasonable result of writing with the brush tip is received, there is no need to adjust the operation of the robot arm; when an unreasonable result of writing with the brush tip is received, the unreasonable writing parameter information is obtained by judging the parameters that do not meet the specifications based on the real-time position information of the brush tip and the rotation information of the brush tip;

[0040] The robot arm is driven and adjusted based on the unreasonable writing parameter information.

[0041] In the second aspect, the present application provides a system for high-precision positioning of the brush tip based on binocular vision, which adopts the following technical solution:

[0042] A system for high-precision positioning of a brush tip based on binocular vision, comprising:

[0043] The camera calibration module is configured to obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system of the camera space position according to the calibration plate and the binocular vision camera, perform a calibration operation on the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the intrinsic and extrinsic parameters of the binocular vision camera, and output the camera calibration completion result;

[0044] A pen tip calibration module is configured to calibrate the pen tip to be tested after receiving the camera calibration completion result, and output a pen tip calibration completion signal;

[0045] A coordinate conversion module is configured to obtain the robotic arm, establish a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm, and convert the coordinates of the rectangular coordinate system of the camera's spatial position into the rectangular coordinate system of the robotic arm's spatial position;

[0046] A trajectory tracking and recording module is configured to track the brush tip to be tested in real time, output real-time parameter information of the brush tip, and record and cache the real-time parameter information of the brush tip;

[0047] The drive control module is configured to judge the writing of the brush tip to be tested based on the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and judge whether the operation of the robotic arm needs to be adjusted based on the brush tip writing judgment result, and if necessary, perform drive adjustment.

[0048] In summary, the present application includes at least one of the following beneficial technical effects:

[0049] The binocular vision camera is calibrated by using an infrared optical camera and a calibration plate, and its internal and external parameters are calculated, which improves the accuracy of the binocular vision camera, thereby improving the accuracy of high-precision positioning of the brush tip based on binocular vision. After the calibration of the binocular vision camera, the brush tip to be tested is calibrated, which improves the accuracy of tracking and positioning the brush tip to be tested during the writing process, and further improves the accuracy of high-precision positioning of the brush tip based on binocular vision. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a schematic diagram of the process of the method for high-precision positioning of the brush tip based on binocular vision, which is mainly embodied in this embodiment;

[0051] Figure 2 This is a module diagram of a system for high-precision positioning of a brush tip based on binocular vision, which is mainly embodied in this embodiment.

[0052] Reference numerals: 1. camera calibration module; 2. pen tip calibration module; 3. coordinate conversion module; 4. trajectory tracking and recording module; 5. drive control module. DETAILED DESCRIPTION

[0053] The present application is further described in detail below in conjunction with the accompanying drawings.

[0054] The embodiment of the present application discloses a method for high-precision positioning of a brush tip based on binocular vision.

[0055] A method for high-precision positioning of a brush tip based on binocular vision comprises the following steps:

[0056] Reference Figure 1 , step S1, obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system of the camera space position according to the calibration plate and the binocular vision camera, calibrate the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the internal and external parameters of the binocular vision camera, and output the camera calibration completion result. Step S1 specifically includes the following sub-steps:

[0057] Step A1, obtaining an infrared optical camera and a calibration board, and establishing a signal connection between the infrared optical camera and the calibration board.

[0058] Step A2, setting the initial positions of the infrared optical camera, the binocular vision camera, and the calibration plate, respectively obtaining the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate, and placing the infrared optical camera, the binocular vision camera, and the calibration plate according to the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate.

[0059] Step A3, create a rectangular coordinate system for the camera space position according to the calibration plate and the binocular vision camera, and set the center of gravity of the binocular vision camera at the midpoint of the binocular vision camera baseline. The rectangular coordinate line of the camera space position adopts a right-handed coordinate system, the origin of the rectangular coordinate system of the camera space position is the center of the calibration plate, the Z axis of the rectangular coordinate system of the camera space position points vertically to the center of gravity of the binocular vision camera, the X axis of the rectangular coordinate system of the camera space position is upward, and the Y axis of the rectangular coordinate system of the camera space position is rightward.

[0060] Step A4, the infrared optical camera shoots the calibration plate to obtain the image information shot by the infrared optical camera, wherein the infrared light source emitted by the infrared optical camera is evenly irradiated onto the calibration plate, and a circular sticker is affixed to the calibration plate, and the circular sticker reflects the infrared light source emitted by the infrared optical camera. It should be noted that the light board on the infrared optical camera in the embodiment of the present application is an 850nm LED light, and is equipped with a filter with a cutoff frequency of 850nm, and the filter is used to filter the natural light in the environment. The calibration plate in the embodiment of the present application is affixed with a circular sticker, and the circular sticker is a reflective sticker used to reflect 850nm infrared light.

[0061] Step A5: extracting the position of the circular sticker on the calibration plate based on the image information captured by the infrared optical camera to obtain the calibration point position information.

[0062] Step S1 also includes the following sub-steps:

[0063] Step B1, moving the binocular vision camera, and continuously photographing the calibration plate during the movement of the binocular vision camera to obtain multiple calibration plate photographed image information.

[0064] Step B2, according to the calibration point position information, use the camera calibration algorithm to determine the internal parameter matrix of the binocular vision camera, and output the internal parameter determination result.

[0065] Step B3, determining the rotation matrix information of the binocular vision camera and the translation vector information of the binocular vision camera according to the calibration point position information and the image information captured by the multiple calibration plates.

[0066] Step B4, determining the extrinsic parameter matrix of the binocular vision camera according to the rotation matrix information of the binocular vision camera and the translation vector information of the binocular vision camera, and outputting the extrinsic parameter determination result.

[0067] Step B5, after receiving the internal parameter determination result and the external parameter determination result, output the camera calibration completion result.

[0068] Reference Figure 1 Step S2, after receiving the camera calibration completion result, calibrate the brush tip to be tested and output a brush tip calibration completion signal. Step S2 specifically includes the following sub-steps:

[0069] Step C1, after receiving the camera calibration completion result, obtain the calibration pen tip fixture, the calibration pen tip fixture includes a pen tip calibration plate, multiple first reflective marking balls and a slender needle tip part, wherein the pen tip calibration plate is set to a square shape, multiple first reflective marking balls are distributed on the pen tip calibration plate and are asymmetrically placed, and one end of the slender needle tip part is connected to a corner of the pen tip calibration plate.

[0070] In actual applications, when an optical positioning system tracks a rigid body, if the rigid body structure is symmetrical, it is easy to cause misidentification. Therefore, the optical positioning system is required to track an asymmetrical rigid body structure.

[0071] Step C2, obtain a brush tracking fixture, which includes a tree-like tracking device and a plurality of second reflective marking balls. The tree-like tracking device is arranged at the tail of the brush to be tested, and the tip of the brush to be tested is connected to the other end of the slender needle tip part. The second reflective marking balls are arranged at the tail end of the tree-like tracking device, and the number of the second reflective marking balls is the same as the number of the first reflective marking balls.

[0072] Step C3, add the calibration pen tip fixture as a rigid body, track and locate the calibration pen tip fixture in real time to obtain the calibration pen tip fixture position information, add the brush tracking fixture as a rigid body, track and locate the brush tracking fixture in real time to obtain the brush tracking fixture position information.

[0073] Step S2 also includes the following sub-steps:

[0074] Step D1, marking the geometric center position of the calibration pen tip fixture as the center of gravity position of the rigid body, and outputting the six-degree-of-freedom information of the center of gravity position of the rigid body based on the position information of the calibration pen tip fixture and the center of gravity position of the rigid body.

[0075] Step D2, based on the six-degree-of-freedom information of the center of gravity position of the rigid body, use a slender needle tip part to fix the brush tip to be tested and mark the fixed position of the brush tip to be tested as the brush tip fixed point.

[0076] Step D3, rotate the calibration pen tip fixture around the pen tip fixed point, and use the binocular vision camera to capture images of multiple first reflective marking balls during the rotation process to obtain the image information of the rotating marking balls. Based on the rotating marking ball image information, calibrate the pen tip of the brush to be tested, and output a pen tip calibration completion signal. The center of gravity of the calibration pen tip fixture is the pen tip fixed point.

[0077] Step D4, photographing the brush tracking jig based on a binocular vision camera to obtain image information of the brush tracking jig, and based on the image information of the brush tracking jig, the brush tracking jig locates the brush tip to be tested to obtain the brush tip position information.

[0078] Reference Figure 1 , step S3, obtaining the robotic arm, establishing a rectangular coordinate system of the robotic arm space position based on the robotic arm, and converting the coordinates of the rectangular coordinate system of the camera space position to the rectangular coordinate system of the robotic arm space position. Step S3 specifically includes the following sub-steps:

[0079] Step S31, acquiring the robotic arm and establishing a signal connection link between the robotic arm and the binocular vision camera, and establishing a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm.

[0080] Step S32, starting the robotic arm and making it stop at a plurality of preset marking positions, and outputting a robotic arm stop signal when the robotic arm stops.

[0081] Step S33, after receiving the robot arm stop signal, the image of the brush tip to be tested is captured and located based on the binocular vision camera to obtain the position information of the robot arm stopping the brush tip.

[0082] Step S34, based on the position information of the brush tip where the robot arm stops and the rectangular coordinate system of the camera space position, determine the position coordinates of the brush tip to be tested in the rectangular coordinate system of the camera space when the robot arm stops at the preset mark position to obtain the camera brush tip position coordinate information.

[0083] Step S35, based on the position information of the pen tip of the robotic arm and the rectangular coordinate system of the robotic arm's spatial position, determine the position coordinates of the brush tip to be tested when the robotic arm stops at the preset mark position to obtain the position coordinate information of the robotic arm's pen tip.

[0084] Step S36, based on the camera tip position coordinate information and the robot arm tip position coordinate information, the camera space position rectangular coordinate system is converted into the robot arm space position rectangular coordinate system.

[0085] Reference Figure 1 Step S4, real-time tracking of the brush tip to be tested, output of real-time parameter information of the brush tip, recording and caching the real-time parameter information of the brush tip. Step S4 specifically includes the following sub-steps:

[0086] Step S41, based on the brush tracking fixture image information, the brush tracking fixture tracks the brush tip to be tested to obtain real-time parameter information of the brush tip, and the real-time parameter information of the brush tip includes the real-time position information of the brush tip and the rotation information of the brush tip.

[0087] Step S42, recording and caching the real-time position information of the brush tip and the rotation information of the brush tip.

[0088] Reference Figure 1 Step S5, judging the writing of the brush tip to be tested according to the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, judging whether the operation of the robot arm needs to be adjusted according to the brush tip writing judgment result, and performing drive adjustment if necessary. Step S5 specifically includes the following sub-steps:

[0089] Step S51, judging whether the writing of the brush tip to be tested is reasonable based on the real-time position information of the brush tip and the rotation information of the brush tip, if reasonable, outputting the reasonable result of the brush tip writing, if unreasonable, outputting the unreasonable result of the brush tip writing.

[0090] Step S52, combining reasonable pen tip writing results and unreasonable pen tip writing results to form a pen tip writing judgment result.

[0091] Step S53, when a reasonable result of pen tip writing is received, there is no need to adjust the operation of the robot arm. When an unreasonable result of pen tip writing is received, the unreasonable writing parameter information is obtained by judging the non-standard parameters in the writing based on the real-time position information of the brush tip and the rotation information of the brush tip.

[0092] Step S54, driving and adjusting the robot arm based on the unreasonable writing parameter information.

[0093] The embodiment of the present application also discloses a system for high-precision positioning of the brush tip based on binocular vision.

[0094] Reference Figure 2 , a system for high-precision positioning of a brush tip based on binocular vision includes:

[0095] The camera calibration module 1 is configured to obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system for the camera space position according to the calibration plate and the binocular vision camera, perform a calibration operation on the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the intrinsic and extrinsic parameters of the binocular vision camera, and output the camera calibration completion result.

[0096] The pen tip calibration module 2 is configured to calibrate the pen tip to be tested after receiving the camera calibration completion result, and output a pen tip calibration completion signal.

[0097] The coordinate conversion module 3 is configured to obtain the robotic arm, establish a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm, and convert the coordinates of the rectangular coordinate system of the camera's spatial position into the rectangular coordinate system of the robotic arm's spatial position.

[0098] The trajectory tracking and recording module 4 is configured to track the brush tip to be tested in real time, output the real-time parameter information of the brush tip, and record and cache the real-time parameter information of the brush tip.

[0099] The drive control module 5 is configured to judge the writing of the brush tip to be tested according to the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and judge whether the operation of the robot arm needs to be adjusted according to the brush tip writing judgment result, and perform drive adjustment if necessary.

[0100] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for high-precision positioning of a brush tip based on binocular vision, characterized in that: The following steps are involved: Obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system for the camera's spatial position according to the calibration plate and the binocular vision camera, calibrate the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the intrinsic and extrinsic parameters of the binocular vision camera, and output the camera calibration completion result; After receiving the camera calibration completion result, calibrating the brush tip to be tested, and outputting a brush tip calibration completion signal; specifically comprising: After receiving the camera calibration completion result, a calibration pen tip fixture is obtained, wherein the calibration pen tip fixture includes a pen tip calibration plate, a plurality of first reflective marking balls, and a slender needle tip part, wherein the pen tip calibration plate is arranged in a square shape, the plurality of first reflective marking balls are distributed on the pen tip calibration plate and are asymmetrically placed, and one end of the slender needle tip part is connected to a corner of the pen tip calibration plate; Obtain a writing brush tracking fixture, the writing brush tracking fixture comprising a tree-shaped tracking device and a plurality of second reflective marking balls, the tree-shaped tracking device is arranged at the tail of the writing brush to be tested, the tip of the writing brush to be tested is connected to the other end of the slender needle tip part, the second reflective marking balls are arranged at the tail end of the tree-shaped tracking device, and the number of the second reflective marking balls is the same as the number of the first reflective marking balls; Adding a calibration pen tip fixture as a rigid body, tracking and locating the calibration pen tip fixture in real time to obtain the calibration pen tip fixture position information, adding a brush tracking fixture as a rigid body, tracking and locating the brush tracking fixture in real time to obtain the brush tracking fixture position information; further comprising: Marking the geometric center position of the calibration pen tip fixture as the center of gravity position of the rigid body, and outputting six-degree-of-freedom information of the center of gravity position of the rigid body based on the position information of the calibration pen tip fixture and the center of gravity position of the rigid body; Based on the six-degree-of-freedom information of the center of gravity of the rigid body, a slender needle tip part is used to fix the brush tip to be tested and the fixed position of the brush tip to be tested is marked as a brush tip fixed point; The calibration pen tip fixture is rotated around the pen tip fixed point, and the image information of the rotating marker balls is obtained by collecting images of the multiple first reflective marker balls during the rotation process based on the binocular vision camera. The pen tip of the brush to be tested is calibrated based on the rotating marker ball image information, and a pen tip calibration completion signal is output. The center of gravity of the calibration pen tip fixture is the pen tip fixed point; The brush tracking jig is photographed based on a binocular vision camera to obtain image information of the brush tracking jig, and based on the image information of the brush tracking jig, the brush tracking jig locates the tip of the brush to be tested to obtain the tip position information; Obtain a robotic arm, establish a rectangular coordinate system for the robotic arm's spatial position based on the robotic arm, and convert the coordinates of the rectangular coordinate system for the camera's spatial position into the rectangular coordinate system for the robotic arm's spatial position; Tracking the brush tip to be tested in real time, outputting real-time parameter information of the brush tip, and recording and caching the real-time parameter information of the brush tip; specifically comprising: Based on the image information of the brush tracking fixture, the brush tracking fixture tracks the brush tip to be tested to obtain real-time parameter information of the brush tip, wherein the real-time parameter information of the brush tip includes real-time position information of the brush tip and rotation information of the brush tip; Record and cache the real-time position information of the brush tip and the rotation information of the brush tip; The writing of the brush tip to be tested is judged according to the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and according to the brush tip writing judgment result, it is determined whether the operation of the robot arm needs to be adjusted, and if necessary, the drive adjustment is performed.

2. The method for high-precision positioning of a brush tip based on binocular vision according to claim 1, characterized in that: The steps of obtaining an infrared optical camera and a calibration plate, establishing a rectangular coordinate system of the camera space position according to the calibration plate and the binocular vision camera, calibrating the binocular vision camera based on the infrared optical camera and the calibration plate, calculating the intrinsic and extrinsic parameters of the binocular vision camera, and outputting the camera calibration completion result specifically include: Acquire an infrared optical camera and a calibration board, and establish a signal connection between the infrared optical camera and the calibration board; The initial positions of the infrared optical camera, the binocular vision camera, and the calibration plate are set to obtain the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate, respectively, and the infrared optical camera, the binocular vision camera, and the calibration plate are placed according to the initial position of the infrared optical camera, the initial position of the binocular vision camera, and the initial position of the calibration plate; According to the calibration plate and the binocular vision camera, a rectangular coordinate system of the camera space position is created, and the center of gravity position of the binocular vision camera is set at the midpoint position of the binocular vision camera baseline; The infrared optical camera photographs the calibration plate to obtain image information photographed by the infrared optical camera, wherein the infrared light source emitted by the infrared optical camera is uniformly irradiated onto the calibration plate, a circular sticker is affixed to the calibration plate, and the circular sticker reflects the infrared light source emitted by the infrared optical camera; The position of the circular sticker on the calibration plate is extracted based on the image information taken by the infrared optical camera to obtain the calibration point position information.

3. The method for high-precision positioning of a brush tip based on binocular vision according to claim 2 is characterized in that: The steps of obtaining an infrared optical camera and a calibration plate, establishing a rectangular coordinate system of the camera space position according to the calibration plate and the binocular vision camera, calibrating the binocular vision camera based on the infrared optical camera and the calibration plate, calculating the intrinsic and extrinsic parameters of the binocular vision camera, and outputting the camera calibration completion result also include: The binocular vision camera is moved, and the calibration plate is continuously photographed during the movement of the binocular vision camera to obtain a plurality of calibration plate photographed image information; According to the position information of the calibration points, the camera calibration algorithm is used to determine the internal parameter matrix of the binocular vision camera, and the internal parameter determination result is output; Determine the rotation matrix information of the binocular vision camera and the translation vector information of the binocular vision camera according to the calibration point position information and the image information captured by the multiple calibration plates; According to the rotation matrix information and the translation vector information of the binocular vision camera, the external parameter matrix of the binocular vision camera is determined, and the external parameter determination result is output; After receiving the internal parameter determination result and the external parameter determination result, the camera calibration completion result is output.

4. The method for high-precision positioning of a brush tip based on binocular vision according to claim 1, characterized in that: The steps of obtaining a robotic arm, establishing a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm, and converting the coordinates of the rectangular coordinate system of the camera's spatial position into the rectangular coordinate system of the robotic arm's spatial position specifically include: Acquire a robotic arm and establish a signal connection link between the robotic arm and the binocular vision camera, and establish a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm; Starting the robotic arm to make it stop at a plurality of preset marking positions, and outputting a robotic arm stop signal when the robotic arm stops; After receiving the robot arm stop signal, the image of the brush tip to be tested is collected and located based on the binocular vision camera to obtain the position information of the robot arm stop tip; Based on the position information of the brush tip where the robot arm stops and the rectangular coordinate system of the camera space position, it is determined that when the robot arm stops at the preset mark position, the position coordinates of the brush tip to be tested in the rectangular coordinate system of the camera space are obtained to obtain the camera brush tip position coordinate information; Based on the mechanical arm's pen tip position information and the mechanical arm's spatial position rectangular coordinate system, it is determined that when the mechanical arm stops at the preset mark position, the position coordinates of the brush tip to be tested when the mechanical arm stops at the preset mark position obtain the mechanical arm's pen tip position coordinate information; According to the camera pen tip position coordinate information and the robot arm pen tip position coordinate information, the camera space position rectangular coordinate system is converted to the robot arm space position rectangular coordinate system.

5. The method for high-precision positioning of a brush tip based on binocular vision according to claim 1, characterized in that: The writing of the brush tip to be tested is judged according to the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and according to the brush tip writing judgment result, it is judged whether the operation of the robot arm needs to be adjusted, and if necessary, the drive adjustment steps are specifically included: According to the real-time position information of the brush tip and the rotation information of the brush tip, it is judged whether the writing of the brush tip to be tested is reasonable, if it is reasonable, the reasonable writing result of the brush tip is output, if it is unreasonable, the unreasonable writing result of the brush tip is output; The reasonable pen tip writing result and the unreasonable pen tip writing result are combined to form a pen tip writing judgment result; When a reasonable result of writing with the brush tip is received, there is no need to adjust the operation of the robot arm; when an unreasonable result of writing with the brush tip is received, the unreasonable writing parameter information is obtained by judging the parameters that do not meet the specifications based on the real-time position information of the brush tip and the rotation information of the brush tip; The robot arm is driven and adjusted based on the unreasonable writing parameter information.

6. A system for high-precision positioning of brush tips based on binocular vision, characterized in that: The system for high-precision positioning of a brush tip based on binocular vision is used to implement the method for high-precision positioning of a brush tip based on binocular vision described in any one of claims 1 to 5, comprising: The camera calibration module is configured to obtain an infrared optical camera and a calibration plate, establish a rectangular coordinate system of the camera space position according to the calibration plate and the binocular vision camera, perform a calibration operation on the binocular vision camera based on the infrared optical camera and the calibration plate, calculate the intrinsic and extrinsic parameters of the binocular vision camera, and output the camera calibration completion result; A pen tip calibration module is configured to calibrate the pen tip to be tested after receiving the camera calibration completion result, and output a pen tip calibration completion signal; A coordinate conversion module is configured to obtain the robotic arm, establish a rectangular coordinate system of the robotic arm's spatial position based on the robotic arm, and convert the coordinates of the rectangular coordinate system of the camera's spatial position into the rectangular coordinate system of the robotic arm's spatial position; A trajectory tracking and recording module is configured to track the brush tip to be tested in real time, output real-time parameter information of the brush tip, and record and cache the real-time parameter information of the brush tip; The drive control module is configured to judge the writing of the brush tip to be tested based on the real-time parameter information of the brush tip to obtain a brush tip writing judgment result, and judge whether the operation of the robotic arm needs to be adjusted based on the brush tip writing judgment result, and if necessary, perform drive adjustment.

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