Integrated robot vision calibration and detection system and working method thereof

Abstract

The invention discloses an integrated robot vision calibration and detection system and a working method thereof, and relates to the field of robots and machine vision. The system comprises a working platform, an image acquisition module mounted on a high-rigidity positioning bracket, and a central control processing unit, the system also comprises a multifunctional calibration and illumination module which integrates an execution arm (used for automatically presenting the calibration board) capable of automatically stretching and overturning and an integrated professional illumination system (such as a backlight source). The central control processing unit drives the module, so that camera internal reference calibration (S2) can be completed in a one-button manner, and the integrated lighting system can be reused in a subsequent visual inspection task (S4); through the calibration-illumination integrated hardware and the calibration-detection integrated software process, the optical consistency of the whole process is provided, and the calibration efficiency, precision and stability of an automatic system are significantly improved.

Description

Technical Field

[0001] This invention relates to the technical field of industrial automation, robotics and machine vision, and in particular to an integrated system for industrial robots that integrates automated calibration and visual inspection functions and its efficient working method. Background Technology

[0002] In modern industrial automated production lines, machine vision systems are a key technology for guiding industrial robots to perform precise positioning, grasping, assembly, and product quality inspection. However, the success of vision guidance is highly dependent on the accuracy and stability of camera calibration and hand-eye calibration.

[0003] However, in the process of implementing the technical solutions of the embodiments of this application, the inventors of this application discovered that the above-mentioned technology has at least the following technical problems: 1) Low system integration and cumbersome environment setup: The vision system (camera, light source), robot, and calibration tools (such as calibration boards) are usually separate units. Users need to design and build mechanical structures to fix the camera and light source themselves, which is not only time-consuming and labor-intensive, but also makes it difficult to guarantee the rigidity and long-term stability of the system. 2) The calibration process relies on manual labor, resulting in low efficiency and poor consistency: Traditional camera intrinsic parameter calibration requires operators to hold the calibration board and change multiple angles and positions within the camera's field of view. The operation is highly arbitrary, and the quality of the calibration results heavily depends on the operator's experience. 3) Susceptible to ambient light interference and unstable accuracy: The lighting conditions in the production workshop are complex and changeable. Changes in ambient light will directly affect the imaging quality, thereby seriously interfering with the accuracy of calibration and detection algorithms. For example, existing automated calibration systems (such as CN120707652A), while achieving automatic translation of the calibration plate via a cross slide, have an open structure that completely fails to address the problem of ambient light interference, and their calibration accuracy remains constrained by changes in workshop lighting. Another solution (such as CN120777999A) proposes a software step for "light source intensity confirmation," but this is merely a passive adjustment of the existing light source and does not provide a hardware environment that actively isolates ambient light and provides stable contrast. Furthermore, the cross slide in CN120777999A can only achieve planar movement and cannot simulate the multi-angle rotation of the calibration plate when manually held, resulting in insufficient pose coverage during calibration. 4) Fragmented software workflow and complex operation: Users often need to frequently switch between camera calibration software, robot control software, and vision inspection development software, making data import and export processes cumbersome and prone to errors.

[0004] Therefore, it is necessary to develop an integrated solution that combines hardware and software to achieve automated, high-precision, and high-efficiency calibration and testing. Summary of the Invention

[0005] This application provides a highly integrated, easy-to-operate, and automated robot vision calibration and detection system and its working method, which solves the technical problems of complex calibration process, low efficiency, and susceptibility to ambient light interference in the prior art.

[0006] At least one embodiment of this disclosure provides an integrated robot vision calibration and detection system, comprising: a working platform; a high-rigidity positioning bracket disposed on the working platform; an image acquisition module fixedly mounted on the high-rigidity positioning bracket for acquiring image information of the working platform area; and a central control processing unit; the system further comprising: a multi-functional calibration and illumination module, the module being vertically disposed on one side of the working platform and connected to the central control processing unit, the multi-functional calibration and illumination module integrating:

[0007] An automatically extendable and tilting actuator arm driven by a precision motor, the end of which integrates a calibration plate; and

[0008] An integrated professional lighting system;

[0009] The central control processing unit is configured to: drive the execution arm to automatically present multiple spatial poses of the calibration board within the field of view of the image acquisition module to perform camera intrinsic parameter calibration; and activate the integrated professional lighting system to provide stable lighting that isolates ambient light interference to the working platform during the camera intrinsic parameter calibration and / or subsequent visual inspection.

[0010] For example, in the integrated robot vision calibration and detection system provided in at least one embodiment of this disclosure, the actuator arm has at least a two-axis structure and is configured to drive the calibration plate to perform vertical telescopic motion and pitch-flip motion.

[0011] For example, in the integrated robot vision calibration and inspection system provided in at least one embodiment of this disclosure, the integrated professional lighting system includes an LED backlight; and the calibration plate is made of a light-transmitting material and has an opaque feature point array disposed thereon.

[0012] For example, in the integrated robot vision calibration and detection system provided in at least one embodiment of this disclosure, the image acquisition module is a binocular stereo camera system.

[0013] For example, in the integrated robot vision calibration and detection system provided in at least one embodiment of this disclosure, the central control processing unit is further configured to:

[0014] The guided hand-eye calibration is performed by acquiring the pose of the calibration board in the robot tool coordinate system through the image acquisition module, and simultaneously reading the robot controller coordinates to calculate the hand-eye transformation relationship.

[0015] For example, in the integrated robot vision calibration and detection system provided in at least one embodiment of this disclosure, the central control processing unit is configured to calculate the hand-eye transformation relationship by solving the equation AX = XB, where A is the motion of the robot tool coordinate system, B is the motion of the calibration plate in the camera coordinate system, and X is the hand-eye transformation matrix to be solved.

[0016] For example, in the integrated robot vision calibration and detection system provided in at least one embodiment of this disclosure, the central control processing unit is configured to seamlessly connect the camera intrinsic parameter calibration, the hand-eye calibration, and subsequent visual detection or localization tasks within a unified software platform.

[0017] This disclosure provides at least one embodiment of a robot vision calibration and detection method, applied to a system including an image acquisition module and a multi-functional calibration and illumination module. The multi-functional calibration and illumination module integrates an automatically movable calibration board and a professional lighting system. The method includes:

[0018] S2: Perform automated camera intrinsic parameter calibration: drive the execution arm of the multi-functional calibration and illumination module to automatically present multiple spatial poses of the calibration board; while the execution arm presents the multiple spatial poses, start the professional lighting system integrated in the multi-functional calibration and illumination module; and control the image acquisition module to acquire images and calculate camera intrinsic parameters.

[0019] S4: Perform visual inspection task: After calibration is completed, retract the execution arm and restart the professional lighting system integrated in the multi-functional calibration and lighting module to illuminate a workpiece to be inspected placed on the work platform, and control the image acquisition module to acquire an image of the workpiece to perform the visual inspection task.

[0020] For example, in the robot vision calibration and detection method provided in at least one embodiment of this disclosure, after the automated camera intrinsic parameter calibration is performed in step S2, the method further includes:

[0021] S3 performs guided hand-eye calibration: It guides a robot holding a calibration tool to move to several points, and uses the image acquisition module and the calculated camera intrinsic parameters to simultaneously acquire the robot coordinates and camera coordinates, and calculate the hand-eye transformation relationship.

[0022] For example, in the robot vision calibration and detection method provided in at least one embodiment of this disclosure, steps S2, S3 and S4 are all executed within the same central control software platform, realizing seamless task configuration from calibration to detection.

[0023] For example, in the robot vision calibration and detection method provided in at least one embodiment of this disclosure, the S2 performs automated camera intrinsic parameter calibration by using the Zhang Zhengyou calibration method and constructing a function that minimizes the reprojection error of all corner points, and then performing nonlinear iterative optimization to calculate the camera intrinsic parameters and distortion coefficients.

[0024] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages:

[0025] 1. The original "calibration-lighting integration" module of this invention has significant advantages. Through the integrated backlight, it ensures that the entire process from S2 (internal parameter calibration) to S4 (detection execution) is carried out in the same, interference-free ideal optical environment, ensuring that the calibration data and detection data are "what you see is what you get" optically, fundamentally ensuring the highest accuracy and stability of the system.

[0026] 2. The flip-up actuator of the present invention can provide more (especially with tilt angle) calibration poses, and fully automates the S2 "one-click internal parameter calibration", reducing the manual calibration process from several hours to a few minutes.

[0027] 3. This invention seamlessly integrates all hardware and software functions (S1-S4) into a single workstation and software suite, providing an end-to-end solution and greatly reducing the barrier to entry. Attached Figure Description

[0028] example:

[0029] Figure 1 This is a schematic diagram of the robot vision calibration and detection system integrated in the embodiments of this application;

[0030] Figure 2 This is a flowchart of the automated camera intrinsic parameter calibration process in the embodiments of this application;

[0031] Figure 3 This is a flowchart of the guided hand-eye calibration process in the embodiments of this application. Detailed Implementation

[0032] It is readily understood that, based on the technical solution of this application, those skilled in the art can propose various interchangeable structural methods and implementations without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of this application.

[0033] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," "third," and similar expressions are used for descriptive and distinguishing purposes only and should not be construed as indicating or implying the relative importance of the corresponding components or the order of components or assembly sequence.

[0034] This application provides an integrated robot vision calibration and inspection system and its working method, solving the technical problems of existing vision calibration systems, such as discrete systems, manual calibration, susceptibility to ambient light interference, and fragmented software processes. The overall concept of this application is as follows: By designing a multi-functional calibration and lighting module that integrates both an automated multi-pose actuator and integrated backlighting in hardware, and using a unified control software, the entire process from "one-click intrinsic parameter calibration" S2, "guided hand-eye calibration" S3 to "automated visual inspection" S4 can be seamlessly executed on the same hardware and software platform. This ensures the consistency of the optical environment during calibration and inspection, thereby achieving high-efficiency, high-precision, and high-stability robot vision calibration and inspection.

[0035] This invention provides an integrated robot vision calibration and inspection system, including a work platform, a high-rigidity positioning bracket, an image acquisition module, a central control and processing unit, and a multi-functional calibration and lighting module. The multi-functional calibration and lighting module is integrated on the high-rigidity positioning bracket and uses an automated multi-pose actuator arm to drive the calibration plate for precise pose adjustment, combined with integrated backlighting to provide a stable light source environment. The image acquisition module is communicatively connected to the central control and processing unit and is used to acquire calibration images and execute intrinsic parameter calibration, hand-eye calibration, and visual inspection algorithms. The central control and processing unit runs unified control software to enable the collaborative work of various functional modules, ensuring full-process automation and consistency of optical conditions.

[0036] The multi-functional calibration and lighting module integrates a precision motor-driven, automatically extendable and retractable actuator arm and an integrated professional lighting system. A calibration plate is integrated at the end of the actuator arm. The central control processing unit is configured to: drive the actuator arm to automatically present multiple spatial poses of the calibration plate within the field of view of the image acquisition module to perform camera intrinsic parameter calibration; and activate the integrated professional lighting system to provide stable illumination to the work platform, isolating it from ambient light interference, during the camera intrinsic parameter calibration and / or subsequent visual inspection.

[0037] like Figure 1 As shown, the system is built on a high-rigidity positioning bracket and working platform, which is preferably constructed of industrial aluminum profiles or metal to ensure the long-term stability of the mechanical structure.

[0038] An image acquisition module is fixedly installed on the crossbeam of the high-rigidity positioning bracket (such as a gantry crane). In a preferred embodiment, this module is a binocular stereo camera system used to acquire three-dimensional image information of the work platform area.

[0039] The core innovation of this invention lies in its multifunctional calibration and illumination module. This module (e.g.) Figure 1 The white, column-like structure shown on the right is vertically positioned on one side of the work platform. This module is highly integrated in structure and contains:

[0040] Automated multi-pose actuator: This module contains an actuator driven by a precision motor (such as a stepper motor or servo motor). The actuator has at least a two-axis structure; for example, one axis (Z-axis) is used for vertical extension and retraction, and the other axis (A-axis) is used for pitch and tilt. A high-precision calibration plate is integrated at the end of the actuator.

[0041] Integrated professional lighting system: This module also integrates an LED backlight. In a preferred embodiment, the calibration plate is made of a light-transmitting material (such as glass or acrylic) and has an opaque checkerboard pattern or dot array engraved on it. When the backlight is activated, the feature points of the calibration plate can present a binarized image with extremely high contrast, which can be extracted with high precision by algorithms (such as the Zhang Zhengyou calibration method).

[0042] The central control processing unit is the "brain" of the system, and it comes pre-installed with the integrated control software of this invention. This unit is connected via cables (such as USB or Ethernet) to the image acquisition module, the multi-functional calibration and illumination module, and (optionally) the external robot controller to be calibrated.

[0043] The present invention also provides an efficient working method based on the above system, which is executed by the central control processing unit and includes the following steps:

[0044] S1: System Initialization. The operator starts the central control software, which automatically detects and connects all hardware via the communication interface, including the camera, the motors and light sources of the multi-function calibration and lighting module, and (if hand-eye calibration is required) the external robot.

[0045] S2: One-click camera intrinsic parameter calibration. This step is used to solve for the camera's intrinsic parameter matrix K and distortion coefficients.

[0046] The operator clicks "Start Internal Parameter Calibration" on the software interface;

[0047] The central control processing unit automatically executes the following processes: 1) controls the multi-functional calibration and lighting module to start its internal integrated professional lighting system (e.g., turn on the backlight); 2) controls its actuator arm to automatically move and rotate within the camera's field of view according to a preset program, presenting N different spatial poses; 3) triggers the image acquisition module to take pictures in each pose.

[0048] The software automatically extracts the corner points of all images and minimizes the reprojection error through nonlinear optimization (such as the Levenberg-Marquardt algorithm) based on Zhang Zhengyou's calibration method, ultimately calculating the accurate intrinsic parameter matrix K and distortion coefficients.

[0049] To clearly describe the transformation process, the key coordinate system involved in this system is first defined:

[0050] World coordinate system (Ow-XwYwZw): A fixed reference coordinate system, which is usually based on a corner point of the calibration plate during camera calibration.

[0051] Camera coordinate system (Oc-XcYcZc): A coordinate system with the camera optical center as the origin, the Z-axis along the optical axis, and the X and Y axes parallel to the imaging plane;

[0052] Image pixel coordinate system (Ouv-uv): The final output digital image coordinate system, with the origin at the top left corner of the image;

[0053] Robot base coordinate system (Ob-XbYbZb): The fixed base reference system of the robot, serving as the reference for all robot movements;

[0054] Robot tool coordinate system (Ot-XtYtZt): A coordinate system fixed on the end flange of the robot arm.

[0055] The calculation process for automated camera intrinsic parameter calibration (intrinsic parameter matrix K and distortion coefficients) is as follows:

[0056] 1) Camera projection and distortion model: The complete projection relationship from a 3D spatial point Pw = [Xw, Yw, Zw]T to a 2D pixel point p = [u, v]T is as follows:

[0057]

[0058] in, [Rt] is the intrinsic parameter matrix, and [Rt] is the extrinsic parameter matrix;

[0059] In practice, distortion correction of the projection points is required:

[0060]

[0061] Where (x, y) are the coordinates of the ideal projection point, r2 = x2 + y2, ki is the radial distortion coefficient, and pi is the tangential distortion coefficient.

[0062] 2) Parameter solution: This system uses the Zhang Zhengyou calibration method for automated implementation.

[0063] Automatic data acquisition: The multi-functional calibration module automatically presents the calibration board in N poses, and the system automatically acquires N images;

[0064] Homography matrix calculation: For each image, through corner detection, calculate the homography matrix H describing the distance from the calibration plate plane to the image plane;

[0065] Analytical solution for initial intrinsic parameters: Using the orthogonality constraint of the column vectors of the rotation matrix, a system of linear equations is constructed from N homography matrices, and the initial value of the intrinsic parameter matrix K is analytically solved.

[0066] Global nonlinear optimization: Using the above analytical solution as the initial value, construct a function that minimizes the reprojection error of all corner points in all images. Use the Levenberg-Marquardt algorithm to iteratively optimize the intrinsic parameter K, distortion coefficients and extrinsic parameters [R t] of all poses until convergence, and obtain the most accurate calibration result.

[0067]

[0068] S3: Guided hand-eye calibration. This step is used to solve for the transformation matrix X (i.e., T) between the camera coordinate system C and the robot base coordinate system B. base_to_cam ).

[0069] The software uses a graphical wizard to enter the "Eye-on-Base" calibration mode;

[0070] The operator attaches a calibration plate (either the one from the system's built-in module or another one) to the end effector of the robot to be calibrated;

[0071] The operator manually teaches the robot to move to N different points based on the software guidance;

[0072] At each point i, the software automatically triggers a photo capture and calculates the pose B of the camera to the calibration board using the intrinsic parameters (obtained from S2). i(i.e. T) cam_to_cal Simultaneously, the software automatically reads the pose A from the base to the tool from the robot controller. i (i.e. T) base_to_tool );

[0073] Specifically, when the robot moves its handheld calibration board from pose i to pose j, It describes the motion of the robot tool's coordinate system itself; the data is read from the robot controller. This describes the motion of the calibration plate in the camera coordinate system, calculated in real time by the vision system; X = T base→cam : are the invariant transformation matrices to be solved; they satisfy the equation: AX = XB.

[0074] The system collects multiple sets (A) i B i After receiving the data, the famous equation AX = XB is automatically solved by rotating the part (R). A R X =R X R B ) and displacement part ((R) A -I)t X =R X t B -t A The hand-eye transformation matrix X is calculated by separating and solving the problem.

[0075] Specifically, the homogeneous matrix equation is separated into two parts: rotation and translation.

[0076] Solving for the rotational part: R A R X =R X R B After the system collects multiple sets of motion data, an overdetermined system of equations can be formed. By converting the rotation matrix into a unit quaternion or axis-angle representation, this nonlinear equation can be transformed into a linear problem, and the optimal rotation matrix R can be robustly solved using methods such as singular value decomposition (SVD). X ;

[0077] Solving for the translation part: (R) A -I)t X =R X t B -t A ; in R X Given this, it is a standard overdetermined linear system of equations in the form Ax = b; the system uses the least squares method to solve for the most accurate translation vector t from multiple sets of motion data. X .

[0078] S4: Seamless task configuration and execution.

[0079] Within the same software platform, operators can immediately use the parameters calibrated by S2 and S3 to create new visual inspection or positioning tasks;

[0080] When workpiece inspection is required, the central control processing unit controls the retraction of the actuator arm of the multi-functional calibration and lighting module (if the calibration plate is in the working area);

[0081] Subsequently, the central control processing unit restarts the integrated professional lighting system in the module; at this time, the lighting system (such as a backlight) will serve as the detection light source, providing the workpiece to be inspected on the work platform with a high-contrast, shadow-free, interference-free, and ambient light-isolated ideal lighting environment.

[0082] The image acquisition module acquires workpiece images in this environment and performs template teaching or continuous automated inspection operations.

[0083] This design, which uses the same integrated lighting hardware from S2 (calibration) to S4 (detection), ensures a high degree of optical consistency between the calibration environment and the working environment, thereby guaranteeing the highest accuracy and stability of visual positioning.

[0084] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0086] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0087] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0088] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0089] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An integrated robot vision calibration and inspection system, comprising: A work platform; A high-rigidity positioning support arranged on the work platform; an image acquisition module fixedly installed on the high-rigidity positioning support and used for acquiring image information of a region of the work platform; and a central control processing unit; characterized in that the system further comprises a multifunctional calibration and lighting module, which is arranged vertically on one side of the work platform and connected with the central control processing unit, and the multifunctional calibration and lighting module internally integrates: an execution arm driven by a precision motor, which can automatically stretch and retract and turn over, and a calibration plate integrated at the end of the execution arm; and an integrated professional lighting system; wherein the central control processing unit is configured to drive the execution arm to automatically present a plurality of spatial poses of the calibration plate within the field of view of the image acquisition module to perform camera intrinsic calibration, and start the integrated professional lighting system to provide stable lighting for the work platform to isolate ambient light interference during the camera intrinsic calibration and / or subsequent visual detection.

2. The system of claim 1, wherein, The execution arm is a two-axis structure and is configured to drive the calibration plate to perform vertical stretching and retraction and pitching and turning over movements to present the plurality of spatial poses within the field of view of the image acquisition module.

3. The system of claim 1 or 2, wherein, The integrated professional lighting system comprises an LED backlight source; and the calibration plate is of a light-transmitting material and is provided with a non-light-transmitting feature point array thereon.

4. The system of claim 1, wherein, The image acquisition module is a binocular stereo camera system.

5. The system of claim 1, wherein, The central control processing unit is further configured to: perform guided hand-eye calibration, acquire the pose of the calibration plate in the robot tool coordinate system through the image acquisition module, and synchronously read the robot controller coordinate to calculate the hand-eye transformation relationship.

6. The system of claim 5, wherein, The central control processing unit is configured to calculate the hand-eye transformation relationship by solving the AX=XB equation, wherein A is the motion of the robot tool coordinate system, B is the motion of the calibration plate in the camera coordinate system, and X is the hand-eye transformation matrix to be solved.

7. The system of claim 5, wherein, The central control processing unit is configured to seamlessly link the camera intrinsic calibration, the hand-eye calibration and subsequent visual detection or positioning tasks in a unified software platform.

8. A work method for robot visual calibration and detection, which is applied to a system comprising an image acquisition module and a multifunctional calibration and lighting module, the multifunctional calibration and lighting module integrating a movable calibration plate and a professional lighting system, and the method comprising: S2: performing automatic camera intrinsic calibration: driving the execution arm of the multifunctional calibration and lighting module to automatically present a plurality of spatial poses of the calibration plate; controlling the image acquisition module to acquire images and calculate camera intrinsic parameters while the execution arm presents the plurality of spatial poses, and starting the professional lighting system integrated in the multifunctional calibration and lighting module. S4: performing a visual inspection task: after the calibration is completed, the execution arm is retrieved, and the professional lighting system integrated in the multifunctional calibration and lighting module is started again to illuminate a workpiece to be inspected placed on the work platform, and the image acquisition module is controlled to acquire an image of the workpiece to perform a visual inspection task.

9. The method of claim 8, wherein, After the S2, the automatic camera intrinsic parameter calibration is performed, further comprising: S3: performing a guided hand-eye calibration: guiding a robot to hold a calibration tool to move to a plurality of positions, synchronously acquiring robot coordinates and camera coordinates by using the image acquisition module and the calculated camera intrinsic parameters, and calculating a hand-eye transformation relationship.

10. The method of claim 9, wherein, The steps S2, S3 and S4 are all performed in the same central control software platform, realizing seamless task configuration from calibration to detection.

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