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改进的机器人视觉与传送带综合标定方法
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国家自然科学基金资助项目(51607133);陕西省科技厅工业攻关项目(2016-136);国家级大学生创新训练项目(201710709024)


Improved Method of Comprehensive Calibration on Robot Vision and Conveyor Belt
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    摘要:

    传统六自由度机器人视觉与传送带的标定方法一般忽略了相机畸变的像素偏差和设备安装过程中的角度偏差,使得传送带上的目标难以精确定位。针对传统标定方法的局限性,提出一种高精度机器人传送带与视觉的综合标定方法。在校正相机径向与切向畸变以及安装角度的基础上,构建机器人坐标系中物体的位移及其在图像坐标系下位移的比例关系,在传送带标定过程中,应用此比例关系,通过设置像素坐标误差阈值的方法校正机器人坐标与传送带坐标系的关系。改进后的标定方法灵活性强,实验结果表明:该方法定位精度有较大的提高。

    Abstract:

    In traditional six degrees of freedom robot vision and conveyor belt calibration approach, the pixel deviation of camera 〖JP2〗distortion and angular deviation of equipment installation are ignored generally, so it is difficult to precisely locate the target on conveyor〖JP〗 belt. Aiming at the limitation of traditional calibration method, a highprecision robot conveyor belt and vision comprehensive calibration method was proposed. Based on correcting the radial and tangential distortion of the camera and the installation angle, a proportional relationship between the displacement of the object in the robot coordinate system and its displacement in the image coordinate system was constructed. In the process of conveyor belt calibration, this proportional relationship was applied, and by setting the pixel coordinate error threshold, the relationship between the robot coordinates and the conveyor coordinate system was corrected. The improved calibration method is more flexible, and the experimental results show that the accuracy of the method is improved greatly.

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王晓华,平丽华,张蕾,叶浩劼,高盼.改进的机器人视觉与传送带综合标定方法[J].机床与液压,2019,47(16):60-64.
. Improved Method of Comprehensive Calibration on Robot Vision and Conveyor Belt[J]. Machine Tool & Hydraulics,2019,47(16):60-64

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  • 在线发布日期: 2020-03-12
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