CN101957176A - Robot and camera combined calibration based method for detecting high-precision car door - Google Patents
Robot and camera combined calibration based method for detecting high-precision car door Download PDFInfo
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Abstract
本发明公开了基于机器人结合相机定标的高精度汽车车门的检测方法，它包括：(1)将标准车门定位在一个固定位置，在标准车门和被测车门的边缘设定多个被测点并在标准车门附近设定多个标记点，标定标记点的坐标；(2)机器人移动到被测点的附近，记下此时的机器人的坐标，第一相机拍摄附近多个标记点的图像；确定第一相机的坐标，计算出第二相机的坐标坐标系与工件坐标系的关系；(3)第二相机对第一被测点进行拍摄，求解第一被测点的三维空间坐标；(4)重复完成标准车门被测点的三维空间坐标的测定；(5)将被测车门固定在标准车门的位置，测出被测车门边缘上多个被测点的在工件坐标系中的坐标。采用本方法将测量精度提高到0.1mm。
The invention discloses a high-precision automobile door detection method based on robot combined with camera calibration, which includes: (1) positioning the standard car door at a fixed position, and setting a plurality of measured points on the edge of the standard car door and the tested car door And set a plurality of marking points near the standard car door, and demarcate the coordinates of the marking points; (2) the robot moves to the vicinity of the measured point, write down the coordinates of the robot at this time, and the first camera shoots images of multiple marking points nearby ; Determine the coordinates of the first camera, calculate the relationship between the coordinate coordinate system of the second camera and the workpiece coordinate system; (3) the second camera shoots the first measured point, and solve the three-dimensional space coordinates of the first measured point; (4) repeatedly finish the mensuration of the three-dimensional coordinates of the measured point of the standard car door; (5) the measured car door is fixed on the position of the standard car door, and measure the position of a plurality of measured points on the edge of the tested car door in the workpiece coordinate system coordinate. The measurement accuracy is improved to 0.1mm by using this method.
Description
Technical field
The present invention relates to a kind of detection method of automobile cubing, the invention particularly relates to a kind of detection method of the high precision arrangements for automotive doors based on the calibration of robot combining camera.
Background technology
Auto parts must detect it before the entrucking after punching press or injection moulding are come out, and carry out by means of cubing and detect Chang Bixu.Cubing (Checking Fixture) is just causing the great attention of more and more enterprises as the important auxiliary products of die industry.Production for self needs and its higher added value, many mould enterprises with it as an important developing direction.The correlation technique of cubing as a kind of new technology, is also just introduced by increasing mould enterprise.
The automobile cubing is by detection architecture location structure, clamping structure, supporting construction, base, and other slave parts constitute.Existing design is according to concrete part, according to inspection requirements, one by one, design corresponding structure progressively, and then is assembled together, and finally realizes the exploitation of cubing.This is a complexity and loaded down with trivial details process, and each design all will start anew, and is difficult to reuse previous design achievement, can not directly bring utilization to expert's mature experience, cause duplication of labour amount big, design loaded down with trivial details, to the exploitation designer require problems such as height.
At present, machine vision metrology has obtained development apace, makes vision sensor make the exploitation of cubing that great development arranged to the measurement of putting on the part by robot movement, has improved the flexibility of cubing design.The present detection method that adopts usually based on this technology moves by the computer-controlled robot then and measures each measured point for camera is contained on robot end's the flange, directly obtains the D coordinates value of measured point by coordinate transform.Yet, commercial now most of industrial robots, its positional precision is directly measured for robot and bring bigger error than the low order of magnitude of its repeatable accuracy.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, a kind of workpiece that do not need to locate is provided, eliminate the positioning error that the location workpiece brings, improved the detection method based on the high precision arrangements for automotive doors of robot combining camera calibration of the flexibility of cubing and automaticity simultaneously.
The detection method of the high precision arrangements for automotive doors based on the calibration of robot combining camera of the present invention, it may further comprise the steps:
(1) the standard car door is positioned at a fixed position, set a plurality of measured points at the edge of standard car door and tested car door and near the standard car door, set a plurality of gauge points, set up the stereoscopic vision measuring system and demarcate the three dimensional space coordinate of the inside and outside parameter of first and second cameras and described a plurality of gauge points;
(2) computer-controlled robot move to the measured point near, write down the three dimensional space coordinate of robot of this moment, near the image of a plurality of gauge points first camera is taken; By the three dimensional space coordinate of definite first camera of three dimensional space coordinate conversion,, calculate the coordinates system of second camera and the relation of workpiece coordinate system then by first camera and the second camera external position parameter;
(3) computer starting second camera is taken first measured point, by the three dimensional space coordinate of stereo vision sensor three-dimensional measurement model solution first measured point in workpiece coordinate system;
(4) repeat the mensuration that all three dimensional space coordinate of standard car door measured point in workpiece coordinate system are finished in described step (2)-(3);
(5) the standard car door is changed, tested car door is fixed on the position of standard car door, measures the three dimensional space coordinate in workpiece coordinate system of a plurality of measured points on the tested vehicle door edge according to step (2)-(4) with the same trajectories of the mensuration of a plurality of gauge points of finishing standard car door mobile robot successively then;
(6) measurement data to a plurality of measured points at the edge of standard car door and tested car door compares, and whether meets production requirement to judge tested car door.
Adopt the beneficial effect of the inventive method to be: by around part, pasting a series of gauge points, (sensor coordinate system is exactly a coordinate system of oneself definition for camera measurement markers point location camera by the robot end and sensor (sensor is by camera and laser constitution) coordinate system, calculate for convenience, general sensor coordinate system and first camera coordinates system overlap), control computer starts the measured point on the another one camera shooting part then, and then calculate the measured point and finish like this and eliminated the error that robot causes at the coordinate of workpiece coordinate system (can sensor coordinate system is unified to workpiece coordinate system) by coordinate transform, prove that by experiment the method can be brought up to 0.1mm with measuring accuracy.Employing has improved the flexibility of cubing greatly based on the robotic vision measuring system, and by a camera Calibration, another one camera photographic images improves measuring accuracy and automaticity.
Description of drawings
Fig. 1 is the mensuration fundamental diagram that adopts the detection method examination criteria car door of the high precision arrangements for automotive doors based on robot combining camera calibration of the present invention;
Fig. 2 adopts the detection method of the high precision arrangements for automotive doors based on robot combining camera calibration of the present invention to detect the mensuration fundamental diagram of tested car door.
Embodiment
Below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described further:
Detection method based on the high precision arrangements for automotive doors of robot combining camera calibration, at first the standard car door is positioned at a fixed position, set a plurality of measured points (as A at the edge of standard car door and tested car door, B) (method determined of standard car door and tested car door measured point can be to paste a gauge point in the same position of standard car door and tested car door earlier to set a plurality of gauge points and near the standard car door, paste a series of measured points every the 3cm clockwise direction in vehicle door edge then), (the stereoscopic vision measuring system is set up and can be edited referring to Zhang Guangjun: " photoelectricity test technology " to set up the stereoscopic vision measuring system, China Measuring Press, 2008,304-307) and demarcate the inner parameter of first and second cameras and the three dimensional space coordinate of external parameter and described a plurality of gauge points; The inside calibrating parameters of first and second cameras comprises that (effective focal length f, the Δ x that comprehensively distorts, Δ y, image planes center (Cx, Cy)) and external parameter comprise (translation and rotation matrix have reflected that the three-dimensional world coordinate is tied to the transformational relation of camera coordinate system).The standard car door can adopt " 3-2-1 " positioning principle to fix.At first carry out the mensuration of standard car door as shown in Figure 1: the computer-controlled robot move to the measured point near, write down the three dimensional space coordinate of the robot of this moment, first camera is taken the image of the many gauge points (these gauge points had been demarcated well with three coordinate machine or transit etc., and their coordinates under world coordinate system are known) before experiment; Determine the three dimensional space coordinate of first camera by the three dimensional space coordinate conversion, then by first camera and the second camera external position parameter, (being connected between first camera and second camera is rigidly connected to calculate the coordinates system of second camera and the relation of workpiece coordinate system (workpiece coordinate system is a near coordinate system that oneself defines the workpiece), transformational relation between the camera coordinates system of first camera and the camera coordinates system of second camera can be demarcated in advance, workpiece coordinate system is the coordinate system that is based upon on the workpiece, relation between workpiece coordinate system and the world coordinate system can be advanced rower calmly in experiment, known the three dimensional space coordinate of first camera above, just can be transformed into the three dimensional space coordinate of first camera under the world coordinate system by the good relation of prior demarcation, then the three-dimensional coordinate under the world coordinate system is being transformed under the workpiece coordinate system, like this, just can calculate the relation between first camera and the workpiece coordinate system); Computer starting second camera is taken first measured point, by the three dimensional space coordinate of stereo vision sensor three-dimensional measurement model solution first measured point in workpiece coordinate system; Repeat above-mentioned steps and finish the mensuration of all three dimensional space coordinate of standard car door measured point in workpiece coordinate system.The three dimensional space coordinate of first camera determines that method can be according to the projection model and the calibrating parameters of video camera, respectively to the image calibration that distorts, the three dimensional space coordinate that goes out camera 1 by stereo vision sensor three-dimensional measurement model solution (is edited referring to Zhang Guangjun: " photoelectricity test technology " again, China Measuring Press, 2008,304-307).Carry out the mensuration of tested car door then as shown in Figure 2: the standard car door is changed, tested car door is fixed on the position of standard car door, with the mensuration of a plurality of gauge points of finishing the standard car door, measure the coordinate of a plurality of measured points in workpiece coordinate system on the tested vehicle door edge then with same trajectories mobile robot successively and according to the assay method of standard car door.Measurement data to a plurality of measured points at the edge of standard car door and tested car door compares at last, whether meets production requirement to judge tested car door.
(1) the standard car door is positioned at a fixed position, set a plurality of measured points at the edge of standard car door and tested car door and near the standard car door, set a plurality of gauge points, set up the stereoscopic vision measuring system and demarcate the three dimensional space coordinate of the inside and outside parameter of first and second cameras and described a plurality of gauge points;
(2) computer-controlled robot move to the measured point near, write down the three dimensional space coordinate of robot of this moment, near the image of a plurality of gauge points first camera is taken; By the three dimensional space coordinate of definite first camera of three dimensional space coordinate conversion,, calculate the coordinates system of second camera and the relation of workpiece coordinate system then by first camera and the second camera external position parameter;
(3) computer starting second camera is taken first measured point, by the three dimensional space coordinate of stereo vision sensor three-dimensional measurement model solution first measured point in workpiece coordinate system;
(4) repeat the mensuration that all three dimensional space coordinate of standard car door measured point in workpiece coordinate system are finished in described step (2)-(3);
(5) the standard car door is changed, tested car door is fixed on the position of standard car door, measures the three dimensional space coordinate in workpiece coordinate system of a plurality of measured points on the tested vehicle door edge according to step (2)-(4) with the same trajectories of the mensuration of a plurality of gauge points of finishing standard car door mobile robot successively then;
The three-dimensional coordinate of standard car door measured point is (x
A, y
A, z
A); The three-dimensional coordinate of tested car door be (x '
A, y '
A, z '
A); The coordinate of more tested car door and standard car door measured point, coordinate figure does not just meet production requirement with original coordinate figure is different.
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| CN103822578A (en) * | 2012-11-16 | 2014-05-28 | 现代自动车株式会社 | Inspection system for vehicle and inspection method for door of vehicle |
| CN104159812A (en) * | 2012-03-05 | 2014-11-19 | 日产自动车株式会社 | Inspection apparatus for opening and closing body and inspection method for opening and closing body |
| CN106949863A (en) * | 2017-03-13 | 2017-07-14 | 重庆大学 | White body is main to spell fixture switching system repetitive positioning accuracy detection method |
| CN107803855A (en) * | 2017-12-13 | 2018-03-16 | 大连四达高技术发展有限公司 | A robot automatic positioning mechanism |
| CN108195354A (en) * | 2017-12-21 | 2018-06-22 | 长沙长泰机器人有限公司 | A kind of vehicle positioning method and vehicle positioning system based on robot |
| CN108278973A (en) * | 2018-04-28 | 2018-07-13 | 青岛海之晨工业装备有限公司 | A kind of mobile phone shell size detection equipment |
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