Robot monocular stereoscopic vision calibrating system and method

Abstract

The invention provides a robot monocular stereoscopic vision calibrating system and method. The system comprises an information acquiring module, a camera modeling module, a robot joint axis calibrating module, a calibrating feedback and fitting module and a robot model building module, wherein the calibration feedback and fitting module comprises an actual deviation judging unit, an axis re-fitting unit and an Euler angle calculating unit; the actual deviation judging unit is used for calculating the deviation between data acquired by a high-definition camera and data acquired by an infraredremote sensor; the axis re-fitting unit is used for correcting the data acquired by the high-definition camera; and the Euler angle calculating unit is used for calculating projection data of an actual value projection measured by the infrared remote sensor on three coordinate axes of a three-dimensional world coordinate system, and calculation of a deviation rate is performed. Thus, it is achieved that dependence on definition of the high-definition camera is lowered, cost of the equipment is lowered, the precision of calibrating is improved, and large-area popularizing of a robot is facilitated.

Description

technical field [0001] The invention relates to the technical field of intelligent robot positioning, in particular to a robot monocular stereo vision calibration system and method. Background technique [0002] With the development of science and technology, all walks of life involve and use intelligent robots to carry out a series of production activities to replace traditional manual operations, thereby saving human resources and greatly improving work efficiency. In the field of intelligent robots, an important link is The accuracy of the robot's visual calibration directly determines the working accuracy and efficiency of the robot. [0003] At present, the vision calibration system of the robot is divided into two methods: monocular and binocular. Among them, the monocular vision calibration system mainly adopts the kinematics loop method and the axis measurement method. The kinematics loop method mainly obtains the pose of the end of the robot by measuring, and then ...

AI Technical Summary

Problems solved by technology

[0004] However, due to the over-reliance on the clarity of the camera, this monocular vision calibration system greatly increases the cost of the equipment and affects the large-scale promotion of robots.

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