A robot differential correction positioning method and device

Abstract

The application relates to a robot differential correction positioning method and device. The robot differential correction positioning method comprises the following steps: calibrating a hand-eye camera and a fixed camera; photographing an object and a calibration board by the fixed camera to obtain fixed camera coordinates of the object and a reference station; photographing the calibration board by the hand-eye camera to obtain hand-eye camera coordinates of the reference station; converting the object coordinates to obtain hand-eye camera coordinates of the object; and calculating correction errors of a mobile station and the reference station by using a differential correction algorithm, and applying the correction errors to the converted hand-eye camera coordinates of the object. The robot differential correction positioning method effectively improves the accuracy of object coordinate detection, realizes sub-millimeter positioning, and meets the demand for high-precision operation by setting the object to be positioned as the mobile station, setting the calibration point as the reference station, simultaneously detecting the reference station coordinates when detecting the object coordinates, and differentially correcting the object coordinates according to the reference station coordinates.

Description

Technical Field

[0001] This invention relates to the field of industrial robots, and in particular to a robot differential correction positioning method and apparatus. Background Technology

[0002] Industrial robots (or robotic arms) are a vital productive force in modern factories, widely used in electronics, chemicals, and many other fields. They can perform not only simple repetitive tasks but also complex, high-precision operations. For robots to perform tasks accurately, they need to acquire accurate object coordinates. Current technologies primarily use visual recognition and hand-eye-assisted positioning to identify and obtain these coordinates. However, these methods all have inherent errors and cannot achieve sub-millimeter-level positioning accuracy, thus failing to meet the demands of high-precision machining. Summary of the Invention

[0003] Therefore, the purpose of this invention is to provide a robot differential correction positioning method.

[0004] A robot localization differential correction method includes the following steps:

[0005] S1. Calibrate the hand-eye camera and the fixed camera to obtain the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system;

[0006] S2. Establish the template center for the object placed on the calibration plate;

[0007] S3. The fixed camera takes pictures of the object and the calibration board to obtain the fixed camera coordinates P of the object. oc and the fixed camera coordinates P of the base station bc ;

[0008] S4. The hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates P of the base station. be ;

[0009] S5. Transform the object's coordinates from the fixed camera coordinate system to the hand-eye camera coordinate system to obtain the object's hand-eye camera coordinates P. oe ;

[0010] S6. Calculate the correction error between the rover and the base station using the differential correction algorithm, and apply it to the transformed object hand-eye camera coordinates P. oe superior;

[0011] S7. Based on the transformation matrix E er Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates P. or And control the robot's operation based on mechanical coordinates.

[0012] The robot differential correction positioning method described in this invention sets the object to be positioned as a rover and the calibration point as a base station. When detecting the object's coordinates, the coordinates of the base station are detected simultaneously, and the object's coordinates are differentially corrected based on the base station coordinates. This effectively improves the accuracy of object coordinate detection, achieves sub-millimeter-level positioning, and meets the requirements for high-precision operation.

[0013] Further, step S1 includes the following sub-steps:

[0014] S11. The robot's hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates P of the calibration point. e ;

[0015] S12. The fixed camera is used to calibrate the calibration plate, and the fixed camera coordinates P of the calibration point are obtained. c ;

[0016] S13. The robot sequentially moves to each calibration point on the calibration plate and obtains the mechanical coordinates P of the calibration points. r ;

[0017] S14. Based on the calibration point hand-eye camera coordinates, fixed camera coordinates, and machine coordinates obtained in the above steps, calculate the transformation matrix E between the hand-eye camera coordinate system and the fixed camera coordinate system. ec And the transformation matrix E between the hand-eye camera coordinate system and the machine coordinate system. er .

[0018] Further, step S14 involves calculating the transformation matrix according to the following formula:

[0019]

[0020] In the formula, E ce Let be the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. for The inverse matrix, For P c The transpose matrix, E er This is the transformation matrix between the machine coordinate system and the hand-eye camera coordinate system. for The inverse matrix, For P e The transpose of .

[0021] Further, step S5 is based on formula P oc *E ec =P oe Calculate and fix the object at camera coordinates P. oc Convert to object hand-eye camera coordinates P oe E in the formula ecThe transformation matrix E obtained in step S14 ec .

[0022] Further, step S6 involves calculating the correction error according to the calculation formula:

[0023] (P oc xP bc x n ) 2 +(P oc yP bc y n ) 2 =R n 2

[0024] In the formula, P oc x represents the fixed camera coordinates P of the object. oc The x-coordinate of P oc y represents the fixed camera coordinates of the object P. oc The y-coordinate, P bc x n P represents the coordinates of the fixed camera at the nth base station. bc The x-coordinate of P bc y n P represents the coordinates of the fixed camera at the nth base station. bc The y-coordinate, R n This represents the correction error obtained from the calculation.

[0025] Furthermore, the present invention also provides a robot positioning differential correction device, comprising a robot, a calibration plate, a fixed camera, and a control processing mechanism, wherein the control processing mechanism includes...

[0026] The calibration module is used to calibrate the hand-eye camera and the fixed camera, and obtain the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system and the machine coordinate system;

[0027] The modeling module is used to establish template centers for objects placed on the calibration plate;

[0028] The fixed-camera module is used to control the fixed camera to photograph the object and the calibration board, obtaining the fixed-camera coordinates P of the object. oc and the fixed camera coordinates P of the base station bc ;

[0029] The hand-eye imaging module is used to control the hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates P of the base station. be ;

[0030] The coordinate transformation module is used to convert the object's coordinates from the fixed camera coordinate system to the hand-eye camera coordinate system, obtaining the object's hand-eye camera coordinates P. oe;

[0031] The differential correction module is used to calculate the correction error between the rover and the base station using a differential correction algorithm, and then applies it to the transformed object hand-eye camera coordinates P. oe superior;

[0032] The mechanical control module is used to control the transformation matrix E. er Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates P. or And control the robot's operation based on mechanical coordinates.

[0033] Furthermore, the calibration module includes

[0034] The hand-eye camera calibration unit is used to control the robot's hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates P of the calibration point. e ;

[0035] The fixed camera calibration unit is used to control the fixed camera to calibrate the calibration plate and obtain the fixed camera coordinates P of the calibration point. c ;

[0036] The mechanical calibration unit controls the robot to sequentially move to each calibration point on the calibration board and obtain the mechanical coordinates P of the calibration points. r ;

[0037] The transformation matrix calculation unit is used to calculate the transformation matrix E between the hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system obtained from the calibration point hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system. ec And the transformation matrix E between the hand-eye camera coordinate system and the machine coordinate system. er .

[0038] Furthermore, the transformation matrix calculation unit calculates the transformation matrix according to the formula:

[0039]

[0040] In the formula, E ce Let be the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. for The inverse matrix, For P c The transpose matrix, E er This is the transformation matrix between the machine coordinate system and the hand-eye camera coordinate system. for The inverse matrix, For P e The transpose of .

[0041] Furthermore, the coordinate transformation module is based on formula P. oc*E ec =P oe Calculate and fix the object at camera coordinates P. oc Convert to object hand-eye camera coordinates P oe E in the formula ec The transformation matrix E obtained in step S14 ec .

[0042] Furthermore, the differential correction module calculates the correction error using the following formula:

[0043] (P oc xP bc x n ) 2 +(P oc yP bc y n ) 2 =R n 2

[0044] In the formula, P oc x represents the fixed camera coordinates P of the object. oc The x-coordinate of P oc y represents the fixed camera coordinates of the object P. oc The y-coordinate, P bc x n P represents the coordinates of the fixed camera at the nth base station. bc The x-coordinate of P bc y n P represents the coordinates of the fixed camera at the nth base station. bc The y-coordinate, R n This represents the correction error obtained from the calculation.

[0045] To better understand and implement this invention, the following detailed description is provided in conjunction with the accompanying drawings. Attached Figure Description

[0046] Figure 1 This is a flowchart of the method described in this invention. Detailed Implementation

[0047] Please see Figure 1 A robot localization differential correction method is disclosed, which uses a differential correction algorithm to perform differential correction on the object coordinates, thereby improving the accuracy of robot localization of object coordinates. The method includes the following steps:

[0048] S1. Equipment initialization: Calibration is performed using a calibration board to obtain the transformation matrix between the mechanical coordinate system and the fixed camera coordinate system. Specifically, this includes the following sub-steps:

[0049] S11. The robot's hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates P of the calibration point. e .

[0050] Specifically, the calibration board includes several calibration points. The robot's hand-eye camera captures images of the calibration board to obtain the coordinates of each calibration point. In this embodiment, the number of calibration points is 9, and the hand-eye camera coordinates of the calibration points are represented by matrix P. e :

[0051]

[0052] In the formula P e x n P e y n The x and y coordinates of the nth calibration point in the hand-eye camera coordinate system are respectively represented by the x and y axes. The third column of the matrix represents the z-axis coordinate, which is set to 1 since all calibration points are in the same plane.

[0053] S12. The fixed camera is used to calibrate the calibration plate, and the fixed camera coordinates P of the calibration point are obtained. c .

[0054] Specifically, the fixed camera is a camera fixedly installed above the loading platform and aimed at the calibration plate in the loading platform. The fixed camera photographs the calibration plate to obtain the fixed camera coordinates of each calibration point in the calibration plate. The fixed camera coordinates of the calibration points are represented by matrix P. c :

[0055]

[0056] In the formula P c x n P c y n The x and y coordinates of the nth calibration point in the fixed camera coordinate system are represented by the matrix, respectively. The third column of the matrix represents the z-axis coordinate, which is set to 1 since all calibration points are in the same plane.

[0057] S13. The robot sequentially moves to each calibration point on the calibration plate and obtains the mechanical coordinates P of the calibration points. r .

[0058] Specifically, the robot sequentially moves to each calibration point on the calibration board and records the mechanical coordinates of the current calibration point in turn, thereby obtaining the mechanical coordinate matrix P of the calibration point. r :

[0059]

[0060] In the formula P r x n Pr y n The x and y coordinates of the nth calibration point in the machine coordinate system are represented by the matrix, respectively. The third column of the matrix represents the z-axis coordinate, which is set to 1 since all calibration points are in the same plane.

[0061] S14. Based on the calibration point hand-eye camera coordinates, fixed camera coordinates, and machine coordinates obtained in the above steps, calculate the transformation matrix E between the hand-eye camera coordinate system and the fixed camera coordinate system. ec And the transformation matrix E between the hand-eye camera coordinate system and the machine coordinate system. er .

[0062] Specifically, the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system is set as E. ec Then there is

[0063] P c *E ec =P e

[0064]

[0065] in, P represents c The transpose of . Let . Then there is

[0066]

[0067] in, P represents cE The inverse matrix. And because... It is equal to the identity matrix, therefore we have

[0068]

[0069] The calibration point hand-eye camera coordinates P obtained in steps S11 and S12 are used to... e and fixed camera coordinates P c Substituting into the above formula, we obtain the transformation matrix E between the hand-eye camera coordinate system and the fixed camera coordinate system. ec .

[0070] Similarly, the transformation matrix E between the hand-eye camera coordinate system and the machine coordinate system is calculated. er Thus, any coordinate can be transformed in three coordinate systems using two transformation matrices.

[0071] S2, Establish template center for the object placed on the calibration plate.

[0072] S3. The fixed camera takes pictures of the object and the calibration board to obtain the fixed camera coordinates P of the object. oc and the fixed camera coordinates P of the base stationbc .

[0073] Specifically, the calibration point of the calibration plate is set as the base station, and the object to be located is set as the rover station. The fixed camera takes pictures of the object placed on the loading platform and the calibration plate together, and obtains the coordinates of the calibration point and the object in the fixed camera coordinate system through visual recognition.

[0074] In differential correction technology, two types of units are set up: a rover station and a base station. The rover station is a movable object that needs to be corrected for positioning, while the base station is a fixed object with known accurate coordinates. When the coordinates of the rover station and the base station are detected simultaneously, they will have the same error. At this time, the detection error can be obtained by subtracting the detected coordinates from the known accurate coordinates of the base station. Applying this detection error to the detected coordinates of the rover station for correction can obtain more accurate rover station coordinates.

[0075] S4. The robot's hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates P of the base station. be .

[0076] Specifically, the robot's hand-eye camera moves to a predetermined position to photograph the loading platform, obtaining the coordinates of the calibration board's reference station in the hand-eye camera's coordinate system. It should be noted that since the object is placed on the calibration board, part of the reference station on the calibration board will be obscured. To ensure the accuracy of detection and recognition, at least four reference stations need to be photographed.

[0077] S5. Fix the object at camera coordinates P. oc Convert to hand-eye camera coordinates to obtain the object's hand-eye camera coordinates P. oe .

[0078] Specifically, according to the calculation formula P oc *E ec =P oe Calculate and fix the object at camera coordinates P. oc Convert to object hand-eye camera coordinates P oe E in the formula ec The transformation matrix E obtained in step S1 ec .

[0079] S6. Calculate the correction error between the rover and the base station using the differential correction algorithm, and apply it to the transformed object hand-eye camera coordinates P. oe superior.

[0080] Specifically, there are many existing difference correction algorithms, such as linear regression and trilateration algorithms. This invention does not specifically limit the difference correction algorithm. In this embodiment, as an example, the trilateration algorithm is used for calculation, according to the calculation formula:

[0081] (P oc xP bc x n ) 2 +(P oc yP bc y n ) 2 =R n 2

[0082] In the formula, P oc x represents the fixed camera coordinates P of the object. oc The x-coordinate of P oc y represents the fixed camera coordinates of the object P. oc The y-coordinate, P bc x n P represents the coordinates of the fixed camera at the nth base station. bc The x-coordinate of P bc y n P represents the coordinates of the fixed camera at the nth base station. bc The y-coordinate, R n This represents the correction error obtained from the calculation.

[0083] The correction error between the rover station (i.e., the object) and the base station is calculated using the above formula, and then applied to the transformed object hand-eye camera coordinates P. oe The above corrects the coordinates obtained by direct transformation calculation through the transformation matrix.

[0084] S7. Based on the transformation matrix E er Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates P. or And control the robot's operation based on mechanical coordinates.

[0085] This invention sets a calibration point on a calibration board as a base station and the object to be positioned as a rover. By simultaneously detecting the coordinates of both the rover and the base station, the rover's coordinates are differentially corrected. Compared to existing technologies, this invention utilizes differential positioning principles to correct object coordinates, eliminating imaging errors caused by robot position deviations and providing higher-precision positioning coordinates to meet high-precision operational requirements.

[0086] In conjunction with the above method, the present invention also provides a robot positioning differential correction device, including a robot, a calibration plate, a fixed camera, and a control processing mechanism. The robot includes a robotic arm and a hand-eye camera, the latter mounted on the robotic arm. The calibration plate is mounted on a loading platform where an object to be grasped is placed, and the calibration plate has a plurality of calibration points. In this embodiment, the number of calibration points is nine, and they are arranged in an array on the calibration plate. The position of the fixed camera is not limited, as long as it can clearly capture images of the calibration plate. In this embodiment, the fixed camera is mounted above the loading platform and aligned with the calibration plate placed on the loading platform.

[0087] The control and processing mechanism includes a calibration module, a modeling module, a fixed shooting module, a hand-eye shooting module, a coordinate transformation module, a differential correction module, and a mechanical control module.

[0088] The calibration module is used to calibrate the hand-eye camera and the fixed camera to obtain the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system and the machine coordinate system.

[0089] Specifically, the calibration module includes a hand-eye camera calibration unit, a fixed camera calibration unit, a mechanical calibration unit, and a transformation matrix calculation unit.

[0090] The hand-eye camera calibration unit is used to control the robot's hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates P of the calibration point. e .

[0091] The fixed camera calibration unit is used to control the fixed camera to calibrate the calibration plate and obtain the fixed camera coordinates P of the calibration point. c .

[0092] The mechanical calibration unit is used to control the robot to sequentially move to each calibration point on the calibration board and obtain the mechanical coordinates P of the calibration points. r .

[0093] The transformation matrix calculation unit is used to calculate the obtained calibration point hand-eye camera coordinates, fixed camera coordinates, and machine coordinates to obtain the transformation matrix E between the hand-eye camera coordinate system and the fixed camera coordinate system. ec And the transformation matrix E between the hand-eye camera coordinate system and the machine coordinate system. er .

[0094] Specifically, the transformation matrix calculation unit calculates the transformation matrix according to the formula...

[0095]

[0096] The transformation matrix is ​​calculated. Where e ce Let be the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. for The inverse matrix, For P c The transpose matrix, E er This is the transformation matrix between the machine coordinate system and the hand-eye camera coordinate system. for The inverse matrix, For P e The transpose of .

[0097] The modeling module is used to establish a template center for an object placed on a calibration plate.

[0098] The fixed shooting module is used to control the fixed camera to shoot images of the object and the calibration board, and to obtain the fixed camera coordinates P of the object. oc and the fixed camera coordinates P of the base station bc .

[0099] The hand-eye imaging module is used to control the hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates P of the base station. be .

[0100] The coordinate transformation module is used to convert the object's coordinates from the fixed camera coordinate system to the hand-eye camera coordinate system, obtaining the object's hand-eye camera coordinates P. oe The coordinate transformation module is based on formula P. oc *E ec =P oe Calculate and fix the object at camera coordinates P. oc Convert to object hand-eye camera coordinates P oe E in the formula ec The transformation matrix E obtained in step S14 ec .

[0101] The differential correction module is used to calculate the correction error between the rover and the base station using a differential correction algorithm, and applies it to the transformed object hand-eye camera coordinates P. oe Above. The differential correction module can use various differential correction algorithms for calculation, such as using a trilateration algorithm, to calculate the correction error using the following formula:

[0102] (P oc xP bc x n ) 2 +(P oc yP bc y n ) 2 =R n 2

[0103] In the formula, P ocx represents the fixed camera coordinates P of the object. oc The x-coordinate of P oc y represents the fixed camera coordinates P of the object. oc The y-coordinate, P bc x n P represents the coordinates of the fixed camera at the nth base station. bc The x-coordinate of P bc y n P represents the coordinates of the fixed camera at the nth base station. bc The y-coordinate, R n This represents the correction error obtained from the calculation.

[0104] The mechanical control module is used to determine the transformation matrix E. er Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates P. or And control the robot's operation based on mechanical coordinates.

[0105] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and the present invention also intends to include these modifications and variations.

Claims

1. A robot positioning differential correction method, characterized in that: Includes the following steps: S1. Calibrate the hand-eye camera and the fixed camera to obtain the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system; S2. Establish the template center for the object placed on the calibration plate; S3. The fixed camera takes pictures of the object and the calibration board to obtain the fixed camera coordinates of the object. and fixed camera coordinates of the base station ; S4. The hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates of the base station. ; S5. Transform the object's coordinates from the fixed camera coordinate system to the hand-eye camera coordinate system to obtain the object's hand-eye camera coordinates. ; S6. Calculate the correction error between the rover and the base station using the differential correction algorithm, and apply it to the transformed object hand-eye camera coordinates. superior; S7. Based on the transformation matrix Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates. And control the robot's operation based on the mechanical coordinates; Step S1 includes the following sub-steps: S11. The robot's hand-eye camera takes a picture of the calibration board to obtain the hand-eye camera coordinates of the calibration point. ; S12. The fixed camera is used to calibrate the calibration plate, and the coordinates of the fixed camera at the calibration point are obtained. ; S13. The robot sequentially moves to each calibration point on the calibration board to obtain the mechanical coordinates of the calibration points. ; S14. Based on the calibration point hand-eye camera coordinates, fixed camera coordinates, and machine coordinates obtained in the above steps, calculate the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. And the transformation matrix between the hand-eye camera coordinate system and the machine coordinate system. ; Step S14 involves calculating the transformation matrix according to the following formula: In the formula, Let be the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. for The inverse matrix, for The transpose of the matrix, This is the transformation matrix between the machine coordinate system and the hand-eye camera coordinate system. for The inverse matrix, for The transpose of the matrix; Step S5 is based on the formula Calculate and fix the camera coordinates of the object. Convert to object hand-eye camera coordinates In the formula The transformation matrix obtained in step S14 ; Step S6 involves calculating the correction error according to the calculation formula: In the formula, Represents the fixed camera coordinates of the object x-coordinate, Represents the fixed camera coordinates of the object The y-coordinate, This represents the coordinates of the fixed camera at the nth base station. x-coordinate, This represents the coordinates of the fixed camera at the nth base station. The y-coordinate, This represents the correction error obtained from the calculation.

2. A robot positioning differential correction device, characterized in that: It includes a robot, a calibration board, a fixed camera, and a control processing mechanism, wherein the control processing mechanism includes: The calibration module is used to calibrate the hand-eye camera and the fixed camera, and obtain the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system and the machine coordinate system; The modeling module is used to establish template centers for objects placed on the calibration plate; The fixed-camera module controls a fixed camera to photograph the object and calibration board, obtaining the fixed-camera coordinates of the object. and fixed camera coordinates of the base station ; The hand-eye imaging module is used to control the hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates of the base station. ; The coordinate transformation module is used to convert the object's coordinates from the fixed camera coordinate system to the hand-eye camera coordinate system, thus obtaining the object's hand-eye camera coordinates. ; The differential correction module is used to calculate the correction error between the rover and the base station using a differential correction algorithm, and then applies it to the transformed object hand-eye camera coordinates. superior; The mechanical control module is used to control the mechanical components according to the transformation matrix. Convert the object's hand-eye camera coordinates to machine coordinates to obtain the object's machine coordinates. And control the robot's operation based on the mechanical coordinates; The calibration module includes: The hand-eye camera calibration unit is used to control the robot's hand-eye camera to photograph the calibration board and obtain the hand-eye camera coordinates of the calibration points. ; The fixed camera calibration unit is used to control the fixed camera to calibrate the calibration plate and obtain the fixed camera coordinates of the calibration points. ; The mechanical calibration unit controls the robot to sequentially move to each calibration point on the calibration board and obtain the mechanical coordinates of the calibration points. ; The transformation matrix calculation unit is used to calculate the transformation matrix between the hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system obtained from the calibration point hand-eye camera coordinate system, the fixed camera coordinate system, and the machine coordinate system. And the transformation matrix between the hand-eye camera coordinate system and the machine coordinate system. ; The transformation matrix calculation unit is used to calculate the transformation matrix according to the formula: In the formula, Let be the transformation matrix between the hand-eye camera coordinate system and the fixed camera coordinate system. for The inverse matrix, for The transpose of the matrix, This is the transformation matrix between the machine coordinate system and the hand-eye camera coordinate system. for The inverse matrix, for The transpose of the matrix; The coordinate transformation module is used to perform the formula... Calculate and fix the camera coordinates of the object. Convert to object hand-eye camera coordinates ; The difference correction module is used to calculate the correction error using the following formula: In the formula, Represents the fixed camera coordinates of the object x-coordinate, Represents the fixed camera coordinates of the object The y-coordinate, This represents the coordinates of the fixed camera at the nth base station. x-coordinate, This represents the coordinates of the fixed camera at the nth base station. The y-coordinate, This represents the correction error obtained from the calculation.

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