CN103878774A - Vision calibration method based on robot - Google Patents
Vision calibration method based on robot Download PDFInfo
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- CN103878774A CN103878774A CN201410064861.6A CN201410064861A CN103878774A CN 103878774 A CN103878774 A CN 103878774A CN 201410064861 A CN201410064861 A CN 201410064861A CN 103878774 A CN103878774 A CN 103878774A
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Abstract
The invention provides a vision calibration method based on a robot. The method has the advantages that a debugging control center is coordinated with a PLC control system and a vision system, full-automatic calibration of the vision system is achieved, switching between position data under images and position data under robot coordinates can be completed, and the robot can be guided to grab targets.
Description
Technical field
The invention belongs to Robotics field, relate to a kind of based on robotic vision scaling method.
Background technology
Automatically changing electric machine people is the nucleus equipment that electric automobile fills electrical changing station, its basic structure comprises the hardware configuration of robot, the PLC control system of serving as the vision system of robot eyes, robot mechanical arm being controlled, also comprise the Master Control Center of coordinating vision system and PLC control system, wherein vision system comprises and is arranged on electric automobile top for obtaining the top camera of electric automobile image, for obtaining the sidepiece camera of cell image to be changed in electric automobile, and sidepiece camera is mounted on manipulator.
Along with the development of Automation Industry, require more and more higher for Unmanned operation, fully automatic operation, reducing manual intervention, adopting robot to substitute manpower is Automation Industry development trend, and therefore vision system also becomes and in automation equipment, is used for serving as human eye the requisite link of information guiding operation is provided to machine.How vision system provides the exact position based on robot coordinate system is technological difficulties.
Target localization is that vision system is applied maximum directions, no matter is that tracking moving object or location capture, and being obtained workpiece coordinate and offered robot by vision system has been the prerequisite guarantee that automation captures.The position that vision system obtains is the position based under image coordinate system, be the position under robot coordinate system and robot carries out that workpiece grabbing need to obtain, the position completing under accurate image coordinate is the key technology of obtaining coordinate under robot coordinate system to the position conversion under robot coordinate system.
Summary of the invention
The invention provides a kind of based on robotic vision scaling method, for drawing the correlation between the position data under position data and the machine coordinate under image coordinate, complete position data under image to the conversion between the position data under robot coordinate, guidance machine people capture target.
Technical solution of the present invention is:
A kind of based on robotic vision scaling method, its special character is: comprise the demarcation of top camera and the demarcation of sidepiece camera, concrete steps are as follows:
A) demarcation of top camera
1] scaling board of fixed installation within sweep of the eye to top camera just on the manipulator of robot, records the current location A of scaling board under robot coordinate, typing debugging control center,
2] set the moving step length L of robot and the mobile frequency n of robot; Typing debugging control center,
3] debugging control center sends photographing instruction to top camera, and top camera takes the scaling board that is positioned at current location A, and extract the position data B0 of scaling board under the image coordinate of top, and this position data is fed back to debugging control center,
4] the next position information of scaling board is sent to PLC control system by debugging control center,
5] PLC control system control manipulator moves, and moves to after the next position, and the information of putting in place is fed back to debugging control center by PLC control system,
6] debugging control center receives and puts in place after information, sends instruction to top camera, and top camera is taken pictures to scaling board, and extract the position data B1 of scaling board under the image coordinate of top, and this image coordinate is fed back to debugging control center,
Repeating step 4]-6] until complete n movement, obtain one group position data B0, B1, the B2 of scaling board under the image coordinate of top ... Bn,
7] the position data B0 under the image coordinate of top, B1, B2 by scaling board ... the displacement of Bn and manipulator, draws the relation between position data and the manipulator displacement under image coordinate; Complete the demarcation of top camera;
B) demarcation of sidepiece camera
1] at sidepiece camera within sweep of the eye, the field range of positive counter-lateral quadrents camera arranges scaling board, records the current location A of scaling board under robot coordinate, typing debugging control center, and described sidepiece camera is arranged in robot,
All the other demarcating steps are with reference to the demarcation of top camera.
Compared with prior art, advantage is in the present invention:
1, the invention provides a kind ofly based on robotic vision scaling method, can complete position data under image to the conversion between the position data under robot coordinate, guidance machine people capture target.
2, vision calibration method of the present invention, matches debugging control center with PLC control system, vision system, realized the full automatic calibration of vision system, successfully solved manual debugging error large, waste time and energy, the problem such as result output disunity.
Accompanying drawing explanation
Fig. 1 is the system diagram that timing signal of the present invention adopts.
The specific embodiment
Below the present invention is elaborated.
One of the present invention is based on robotic vision scaling method, its vision calibration system comprises and is arranged on electric automobile top for obtaining the top camera of electric automobile position, for obtaining the sidepiece camera of battery location to be changed in electric automobile, and sidepiece camera is mounted on manipulator.As shown in Figure 1, communicate by letter with vision system with PLC control system respectively in debugging control center.
This scaling method comprises the demarcation of top camera and the demarcation of sidepiece camera, and concrete steps are as follows:
A) demarcation of top camera
1] on the manipulator of robot, just the field range of top camera is fixedly mounted to scaling board, record the current location A of scaling board under robot coordinate, typing debugging control center,
2] set the moving step length L of robot and the mobile frequency n of robot; Typing debugging control center,
3] debugging control center sends photographing instruction to top camera, and top camera takes the scaling board that is positioned at current location A, extracts the position data B0 of scaling board under the image coordinate of top, and this position data is fed back to debugging control center;
4] the next position information of scaling board is sent to PLC control system by debugging control center,
5] PLC control system control manipulator moves, and moves to after the next position, and the information of putting in place is fed back to debugging control center by PLC control system,
6] debugging control center receives and puts in place after information, sends instruction to top camera, and top camera is taken pictures to scaling board, and extract the position data B1 of scaling board under the image coordinate of top, and this image coordinate is fed back to debugging control center,
Repeating step 4]-6] until complete n movement, obtain position data B0, B1, the B2 of scaling board under the image coordinate of top ... Bn,
7] a group of position data B0, B1, the B2 under the image coordinate of top by scaling board ... the displacement of Bn and manipulator, draws the relation between position data and the manipulator displacement under image coordinate; Complete the demarcation of top camera.
B) demarcation of sidepiece camera
1] at sidepiece camera within sweep of the eye, the field range of positive counter-lateral quadrents camera arranges scaling board, records the current location A of scaling board under robot coordinate, typing debugging control center, and sidepiece camera is arranged in robot,
2] set the moving step length L of robot and the mobile frequency n of robot; Typing debugging control center,
3] debugging control center sends photographing instruction to top camera, and sidepiece camera takes the scaling board that is positioned at current location A, extracts the position data B0 of scaling board under sidepiece camera image coordinate, and this position data is fed back to debugging control center;
4] the next position information of scaling board is sent to PLC control system by debugging control center,
5] PLC control system control manipulator moves, and moves to after the next position, and the information of putting in place is fed back to debugging control center by PLC control system,
6] debugging control center receives and puts in place after information, sends instruction to sidepiece camera, and sidepiece camera is taken pictures to scaling board, and extract the position data B1 of scaling board under sidepiece camera image coordinate, and this image coordinate is fed back to debugging control center,
Repeating step 4]-6] until complete n movement, obtain position data B0, B1, the B2 of scaling board under sidepiece camera image coordinate ... Bn,
7] a group of position data B0, B1, the B2 under sidepiece camera image coordinate by scaling board ... the displacement of Bn and manipulator, draws the relation between position data and the manipulator displacement under sidepiece camera image coordinate; Complete the demarcation of sidepiece camera;
In order to improve the accuracy of calibration result, in the time of top camera and sidepiece camera calibration, can return according to the former road of identical step-length by control, with reference to step 2-6] scaling method, obtain scaling board another group view data under the image coordinate of top, can average to twice acquisition result.
Claims (1)
1. based on a robotic vision scaling method, it is characterized in that: comprise the demarcation of top camera and the demarcation of sidepiece camera, concrete steps are as follows:
A) demarcation of top camera
1] scaling board of fixed installation within sweep of the eye to top camera just on the manipulator of robot, records the current location A of scaling board under robot coordinate, typing debugging control center,
2] set the moving step length L of robot and the mobile frequency n of robot; Typing debugging control center,
3] debugging control center sends photographing instruction to top camera, and top camera takes the scaling board that is positioned at current location A, and extract the position data B0 of scaling board under top camera image coordinate, and this position data is fed back to debugging control center,
4] the next position information of scaling board is sent to PLC control system by debugging control center,
5] PLC control system control manipulator moves, and moves to after the next position, and the information of putting in place is fed back to debugging control center by PLC control system,
6] debugging control center receives and puts in place after information, sends instruction to top camera, and top camera is taken pictures to scaling board, and extract the position data B1 of scaling board under top camera image coordinate, and this image coordinate is fed back to debugging control center,
Repeating step 4]-6] until complete n movement, obtain one group position data B0, B1, the B2 of scaling board under the image coordinate of top ... Bn,
7] the position data B0 under top camera image coordinate, B1, B2 by scaling board ... the displacement of Bn and manipulator, draws the relation between position data and the manipulator displacement under top camera image coordinate; Complete the demarcation of top camera;
B) demarcation of sidepiece camera
1] at sidepiece camera within sweep of the eye, the field range of positive counter-lateral quadrents camera arranges scaling board, records the current location A of scaling board under robot coordinate, typing debugging control center, and described sidepiece camera is arranged in robot,
All the other demarcating steps are with reference to the demarcation of top camera.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN108527360A (en) * | 2018-02-07 | 2018-09-14 | 唐山英莱科技有限公司 | A kind of location position system and method |
| CN109300157A (en) * | 2018-09-14 | 2019-02-01 | 威准（厦门）自动化科技有限公司 | A kind of mechanical location of visual machine determines method, terminal device and storage medium |
| CN110111394A (en) * | 2019-05-16 | 2019-08-09 | 湖南三一快而居住宅工业有限公司 | Based on manipulator feature to the method and device of video camera automatic Calibration |
| CN111037558A (en) * | 2019-12-23 | 2020-04-21 | 北京航天计量测试技术研究所 | Automatic identification and grabbing method and system |
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|---|---|---|---|---|
| CN105278454A (en) * | 2015-11-05 | 2016-01-27 | 合肥图迅电子科技有限公司 | Robot hand-eye positioning algorithm based on mechanical arm visual positioning system |
| CN108527360A (en) * | 2018-02-07 | 2018-09-14 | 唐山英莱科技有限公司 | A kind of location position system and method |
| CN109300157A (en) * | 2018-09-14 | 2019-02-01 | 威准（厦门）自动化科技有限公司 | A kind of mechanical location of visual machine determines method, terminal device and storage medium |
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| CN111037558A (en) * | 2019-12-23 | 2020-04-21 | 北京航天计量测试技术研究所 | Automatic identification and grabbing method and system |
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Application publication date: 20140625 |