CN105844670B - Horizontal machine people moves camera Multipoint movable scaling method - Google Patents

Abstract

The present invention relates to vision robotics fields, refer in particular to a kind of mobile camera Multipoint movable scaling method of horizontal machine people, camera calibration step includes: that horizontal machine people controls moving back and forth in probe progress X-direction and Y-direction, when the coordinate of the center of circle of the scaling board described in the probe alignment, horizontal machine people obtains current coordinate data, to primarily determine the position of coordinate of the center of circle；Level-one calibration is executed, horizontal machine people controls probe, and successively alignment at least nine level-ones demarcate point one by one, carry out the level-one calibration to coordinate of the center of circle according to the coordinate data that whole level-ones demarcate point；Second level calibration is executed, horizontal machine people controls probe, and successively alignment at least nine second levels demarcate point one by one, carry out the second level calibration to coordinate of the center of circle according to the coordinate data that all second-order demarcates point.Have the advantages that setting is simply and automatically demarcated, Onsite Maintenance Engineer one-touch can solve the problems, such as point demarcation, and calibration is high-efficient, and maintenance cost is lower.

Description

Horizontal machine people moves camera Multipoint movable scaling method

Technical field

The present invention relates to vision robotics fields, refer in particular to a kind of mobile camera Multipoint movable mark of horizontal machine peopleDetermine method.

Background technique

In image measurement process and machine vision applications, the more comprehensive information of object, is generally required in order to obtainMultiple cameras carry out the morphological feature of reconstruction of objects with the use of acquisition subject image.Wherein, the camera being used cooperatively needs to establishPlay determining spatial relationship, and be allowed to unified into identical coordinate system, in this way could accurately reconstruction of objects morphological feature,This process demarcates camera.

In the prior art, for the calibration of robot system, the method for generally using artificial teaching, for example, manuallyControlling robot will with a variety of different postures (for six-joint robot, generally four kinds or more different postures)The tool installed thereon is moved to same target point.But due to needing to judge by human eye it is same whether tool is moved toTherefore inevitably there is error in target point, lead to tool center point (tool center of the tool relative to robotPoint) the calibration inaccuracy of the transfer matrix of coordinate system, and manually control robot is reached together with a variety of different posturesOne target point and dependence human eye judge whether that the work for reaching same target point is very time-consuming, influence working efficiency.For needingOften the robot system of replacement tool will be re-scaled once after tool of every replacement, very troublesome,It is very time-consuming.

Summary of the invention

It is more without the mobile camera of the horizontal machine people of reasoning and calculating that the technical problem to be solved in the present invention is to provide a kind ofThe mobile scaling method of point, has the advantages that setting is simply and automatically demarcated, Onsite Maintenance Engineer can one-touch solution pointProblem of calibrating, calibration is high-efficient, and maintenance cost is lower.

In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:

A kind of mobile camera Multipoint movable scaling method of horizontal machine people, including pedestal, are installed on the horizontal machine of pedestalPeople, the scaling board for being fixed on pedestal and the mobile camera being fixed in the swing arm of horizontal machine people, the actuating station of horizontal machine peopleIt is provided with probe, the scaling board, which is provided with coordinate of the center of circle and encloses, is respectively equipped at least nine level-one calibration set on coordinate of the center of circlePoint and at least nine second levels demarcate point, and second level calibration point is located at the periphery of level-one calibration point, which is located atThe lower section of probe and camera, and scaling board is in the actuating range of horizontal machine people；Camera calibration step includes:

Step A, horizontal machine people controls probe and carries out moving back and forth in X-direction and Y-direction, marks described in the probe alignmentWhen the coordinate of the center of circle of fixed board, horizontal machine people obtains current coordinate data, to primarily determine the position of coordinate of the center of circle；

Step B, level-one calibration is executed, horizontal machine people controls probe successively alignment at least nine level-one calibration one by onePoint, every one level-one of alignment demarcate point, and horizontal machine people obtains a current coordinate data, is demarcated according to whole level-onesThe coordinate data of point carries out the level-one calibration to coordinate of the center of circle；

Step C, second level calibration is executed, horizontal machine people controls probe successively alignment at least nine second level calibration one by onePoint, every one second level of alignment demarcate point, and horizontal machine people obtains a current coordinate data, demarcated according to all second-orderThe coordinate data of point carries out the second level calibration to coordinate of the center of circle；

Preferably, the periphery of the second level calibration point is provided at least nine three-level calibration points, camera calibration stepFurther include step D, execute three-level calibration, horizontal machine people controls probe and is successively directed at least nine three-level calibration points one by onePosition, every one three-level of alignment demarcate point, and horizontal machine people obtains a current coordinate data, according to whole three-level calibration pointsThe coordinate data of position carries out the three-level calibration to coordinate of the center of circle.

Preferably, the periphery of the three-level calibration point is provided at least nine level Four calibration points, camera calibration stepFurther include step E, execute level Four calibration, horizontal machine people controls probe and is successively directed at least nine level Four calibration points one by onePosition, every one level Four of alignment demarcate point, and horizontal machine people obtains a current coordinate data, according to whole level Four calibration pointsThe coordinate data of position carries out the level Four calibration to coordinate of the center of circle.

Preferably, the quantity of the level-one calibration point, second level calibration point and three-level calibration point is nine, andFor the equidistant placement of three rows three column.

Another preferred, the quantity of the level-one calibration point, second level calibration point and three-level calibration point is 16It is a, and be the equidistant placement of four rows and four columns.

The beneficial effects of the present invention are:

The present invention provides a kind of mobile camera Multipoint movable scaling method of horizontal machine people, horizontal machines of the present inventionPeople moves camera Multipoint movable scaling method, and the present invention provides a kind of mobile camera Multipoint movable calibration sides of horizontal machine peopleOne-touch automation multi-point calibration movement may be implemented in conjunction with the operation of sequencing in method, and can be done step-by-step to mobile camera ginsengSeveral thick calibration and smart demarcating steps, has the advantages that setting is simply and automatically demarcated, Onsite Maintenance Engineer can be one-touchSolve the problems, such as point demarcation, calibration is high-efficient, and maintenance cost is lower.

Detailed description of the invention

Fig. 1 is the schematic perspective view of horizontal machine people of the present invention, mobile camera and scaling board.

Fig. 2 is the schematic perspective view of scaling board of the invention.

Fig. 3 is mobile sequential schematic when horizontal machine people of the present invention detects calibration point.

Specific embodiment

For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawingBright, the content that embodiment refers to not is limitation of the invention.

It is as shown in Figure 1 to Figure 3 a kind of mobile camera Multipoint movable scaling method of horizontal machine people of the present invention

Embodiment one, including pedestal are installed on the horizontal machine people 1 of pedestal, are fixed on the scaling board 2 of pedestal and are fixed onMobile camera 3 in the swing arm of horizontal machine people 1, the actuating station of horizontal machine people 1 are provided with probe 4, and the scaling board 2 is arrangedThere is coordinate of the center of circle 21 and encloses the nine level-ones calibration point 22 and second level calibration point 23 set on coordinate of the center of circle 21, second level markFixed point position 23 is located at the periphery of level-one calibration point 22, which is located at the lower section of probe 4 and camera, and scaling board 2 existsIn the actuating range of horizontal machine people 1；Camera calibration step includes:

Step A, horizontal machine people 1 controls probe 4 and carries out moving back and forth in X-direction and Y-direction, when probe 4 is directed at instituteWhen stating the coordinate of the center of circle 21 of scaling board 2, horizontal machine people 1 obtains current coordinate data, to primarily determine coordinate of the center of circle 21Position；

Step B, level-one calibration is executed, horizontal machine people 1 controls probe 4 and is successively directed at nine level-one calibration points one by onePosition 22, every one level-one of alignment demarcate point 22, and horizontal machine people 1 obtains a current coordinate data, according to whole level-onesThe coordinate data of calibration point 22 carries out the level-one calibration to coordinate of the center of circle 21, to realize the thick calibration to mobile 3 parameter of camera；

Step C, second level calibration is executed, horizontal machine people 1 controls probe 4 and is successively directed at least nine second level marks one by onePosition 23 is pinpointed, every one second level of alignment demarcates point 23, and horizontal machine people 1 obtains a current coordinate data, according to wholeThe coordinate data of second level calibration point 23 carries out the second level calibration to coordinate of the center of circle 21, to realize the essence to mobile 3 parameter of cameraCalibration.

The present invention provides a kind of mobile camera Multipoint movable scaling method of horizontal machine people, in conjunction with the operation of sequencing,One-touch automation multi-point calibration movement may be implemented, and thick calibration and essence calibration to mobile 3 parameter of camera can be done step-by-stepStep has the advantages that setting is simply and automatically demarcated, and Onsite Maintenance Engineer one-touch can solve the problems, such as point demarcation, markFixed high-efficient, maintenance cost is lower.

In the present embodiment, the quantity of the level-one calibration point 22, second level calibration point 23 and three-level calibration point 24 is equalIt is nine, and is the equidistant placement of three rows three column.The periphery of the second level calibration point 23 is provided with nine three-level calibration pointsPosition 24, camera calibration step further includes step D, executes three-level calibration, and horizontal machine people 1 controls probe 4 and is successively directed at institute one by oneIt states at least nine three-level calibration points 24, every one three-level of alignment and demarcates point 24, horizontal machine people 1 obtains a current seatMark data, carried out according to the coordinate data that whole three-levels demarcate point 24 to the calibration of the three-level of coordinate of the center of circle 21, level-one calibration andSecond level can be considered as the thick calibration movement to mobile 3 parameter of camera, and three-level calibration is dynamic as the essence calibration to mobile 3 parameter of cameraMake, can be further improved the accuracy of mobile 3 parameter of camera, stated accuracy is higher.

Certainly, the required precision according to mobile 3 parameter of camera is different, such as in the high equipment of stated accuracy, may be used alsoNine level Four are set with the periphery in three-level calibration point 24 and demarcate point 25, camera calibration step further includes step E, is heldThe calibration of row level Four, horizontal machine people 1 controls probe 4, and successively alignment at least nine level Four demarcate point 25, every alignment one by oneOne level Four demarcates point 25, and horizontal machine people 1 obtains a current coordinate data, demarcates point 25 according to whole level FourCoordinate data carries out the level Four calibration to coordinate of the center of circle 21, to realize further increasing for mobile 3 parameter calibration precision of camera.

It should be added that when improving the stated accuracy of mobile 3 parameter of camera, in addition to increasing multistage calibration pointMethod except, can also be realized by increasing the method for calibration point bit quantity, such as: the level-one demarcates point 22, second levelThe quantity for demarcating point 23 and three-level calibration point 24 is 16, and is the equidistant placement of four rows and four columns.Equally also canAchieve the purpose that improve stated accuracy, practicability is stronger.

One embodiment of the present invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneouslyLimitations on the scope of the patent of the present invention therefore cannot be interpreted as.It should be pointed out that for those of ordinary skill in the artFor, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to guarantor of the inventionProtect range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.

Claims (5)

1. horizontal machine people moves camera Multipoint movable scaling method, is executed by following equipment: including pedestal, being installed on pedestalHorizontal machine people (1), the scaling board (2) for being fixed on pedestal and the mobile camera being fixed in the swing arm of horizontal machine people (1)(3), the actuating station of horizontal machine people (1) is provided with probe (4), it is characterised in that: the scaling board (2) is provided with coordinate of the center of circle(21) it and encloses and is respectively equipped at least nine level-ones calibration point (22) set on coordinate of the center of circle (21) and at least nine second levels are demarcatedPoint (23), second level calibration point (23) are located at the periphery of level-one calibration point (22), which is located at probe (4)And the lower section of camera, and scaling board (2) is in the actuating range of horizontal machine people (1)；Camera calibration step includes:

Step A, horizontal machine people (1) controls probe (4) and carries out moving back and forth in X-direction and Y-direction, when probe (4) are alignedWhen coordinate of the center of circle (21) of the scaling board (2), horizontal machine people (1) obtains current coordinate data, to primarily determine the center of circleThe position of point (21)；

Step B, level-one calibration is executed, horizontal machine people (1) controls probe (4) and is successively directed at least nine level-one marks one by oneIt pinpoints position (22), one level-one calibration point (22) of every alignment, horizontal machine people (1) obtains a current coordinate data, rootThe level-one calibration to coordinate of the center of circle (21) is carried out according to the coordinate data of whole level-ones calibration point (22)；

Step C, second level calibration is executed, horizontal machine people (1) controls probe (4) and is successively directed at least nine second level marks one by oneIt pinpoints position (23), one second level calibration point (23) of every alignment, horizontal machine people (1) obtains a current coordinate data, rootThe second level calibration to coordinate of the center of circle (21) is carried out according to the coordinate data of all second-order calibration point (23).

2. the mobile camera Multipoint movable scaling method of horizontal machine people according to claim 1, it is characterised in that: described twoThe periphery of grade calibration point (23) is provided at least nine three-level calibration point (24), and camera calibration step further includes step D, is heldThe calibration of row three-level, horizontal machine people (1) controls probe (4), and successively alignment at least nine three-levels demarcate point (24) one by one,One three-level calibration point (24) of every alignment, horizontal machine people (1) obtains a current coordinate data, according to whole three-level marksThe coordinate data of fixed point position (24) carries out the three-level calibration to coordinate of the center of circle (21).

3. the mobile camera Multipoint movable scaling method of horizontal machine people according to claim 2, it is characterised in that: described threeThe periphery of grade calibration point (24) is provided at least nine level Four calibration point (25), and camera calibration step further includes step E, is heldThe calibration of row level Four, horizontal machine people (1) controls probe (4), and successively alignment at least nine level Four demarcate point (25) one by one,One level Four calibration point (25) of every alignment, horizontal machine people (1) obtains a current coordinate data, according to whole level Four marksThe coordinate data of fixed point position (25) carries out the level Four calibration to coordinate of the center of circle (21).

4. the mobile camera Multipoint movable scaling method of horizontal machine people according to claim 2, it is characterised in that: described oneThe quantity of grade calibration point (22), second level calibration point (23) and three-level calibration point (24) is nine, and is three rows threeColumn equidistant placement.

5. the mobile camera Multipoint movable scaling method of horizontal machine people according to claim 2, it is characterised in that: described oneThe quantity of grade calibration point (22), second level calibration point (23) and three-level calibration point (24) is 16, and is four rowsFour column equidistant placements.