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Coordinate system coincidence calibration method and system

A technology of coincidence calibration and coordinate system, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of large error range and difficult to guarantee the accuracy of assembly, etc., to improve the coincidence accuracy, accurate coordinate system conversion relationship, reduce effect of error

Active Publication Date: 2021-12-17
SUZHOU DINNAR TECH FOR AUTOMATION CO LTD
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Problems solved by technology

However, this method has a large error range, and it is difficult to guarantee the accuracy of assembly in the actual production process.

Method used

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  • Coordinate system coincidence calibration method and system
  • Coordinate system coincidence calibration method and system

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Embodiment Construction

[0029] In order to describe the technical solution of the above invention in more detail, specific examples are listed below to demonstrate the technical effect; it should be emphasized that these examples are used to illustrate the present invention and not limit the scope of the present invention.

[0030] For the coordinate system coincidence calibration method provided by this invention, please refer to figure 1 , the method includes:

[0031] Step 1: Obtain a first coordinate system based on the structure of the robot, use a 2D camera to capture an image of the robot, and obtain a second coordinate system based on the image. In this embodiment, the first coordinate system is a three-dimensional coordinate system, and the second coordinate system is The two-coordinate system is a two-dimensional coordinate system.

[0032] Step 2: Obtain 3 to 5 calibration points and the coordinate values ​​of the calibration points in the second coordinate system from the image, any thre...

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Abstract

The invention relates to a coordinate system coincidence calibration method and system. The method includes: acquiring a first coordinate system based on the structure of a robot, acquiring a second coordinate system based on a captured image of the robot; Any three can form an isosceles triangle; make the robot translate at equal intervals, and calculate the rotation matrices of the first and second coordinate systems based on the obtained first and second sets of calibration data; make the robot rotate, based on the obtained third set Calculate the translation matrix of the first and second coordinate systems with the fourth group of calibration data; obtain a feature point on an image, calculate the estimated coordinate value of the feature point on the second coordinate system; measure the actual value of the feature point Coordinate values; compare the estimated and actual coordinate values ​​to back-verify the accuracy of the translation and rotation matrices. The invention can reduce the error of the image vision system, improve the coincidence degree of the camera coordinate system and the robot coordinate system, and then improve the assembly precision of parts.

Description

technical field [0001] The invention relates to the technical field of coordinate system calibration, in particular to a coordinate system coincidence calibration method and system. Background technique [0002] In industries such as 3C electronics and automobiles, there are usually some parts that need to be assembled. To ensure smooth assembly, two coordinate systems need to be overlapped, such as the coordinate system of the camera and the coordinate system of the robot. However, in some scenarios, due to installation and structural problems, the conventional coordinate system coincidence calibration method will have certain limitations. For example, the installation method of the camera is not parallel or the position of the robot is not concentric with the product, etc., which will lead to accurate assembly. Sexual decline. In order to improve the accuracy of assembly parts during production, it is necessary to improve the calibration accuracy of the coordinate system ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16
CPCB25J9/1602B25J9/1687B25J9/1653B25J9/161
Inventor 李安秦应化
Owner SUZHOU DINNAR TECH FOR AUTOMATION CO LTD
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