1. Visual positioning skills of industrial robots
Machine appearance is a new discipline aimed at developing robotics skills. After eternal planning and beauty, more industries and fields are used. The basic principle is to use cameras and computers to make people's eyes higher than their hearts. The current robot vision skills can be divided into two-dimensional visual localization skills and three-dimensional visual positioning skills. Among them, 2D positioning skills based on everyday appearance are used the most. But most importantly, the orientation of the industrial plan has become more and more chaotic due to mechanical positioning. High values are only used for 2D drawings in some places.
2. The use of appearance skills of industrial robots
Because of the information between the camera and the robot, the robot view system can be divided into two different types: it can be set at the end of the camera's robotic arm so that the machine can move together; FHye cannot be moved with a camera. You can use the entire system to divide two different views. The first different robot view system needs to be calibrated. Calibrated to use 2D drawing points and 3D object points. Secondly, it is necessary to verify the three-dimensional coordinates of the job and ensure that the job is done by an industry-confirmed robot to verify the coordinated information. 121
3. System calibration
On the other hand, we need to focus on camera parameter calibration. In the robot view direction, if you want to demarcate the orientation of the work table and its connection, you need to use the model as a reference for analysis and discussion, and combine the principle of drawing at a certain point to detain a solid information model, for the first time, the operator can change the coordinate system, convert the world coordinate system into the camera coordinate system, and correctly guide the space of the camera, so that the external parameters of the camera match the coordinates of the camera. Then, we need to coordinate the transformation of the system more closely, converting the previously converted camera coordinates into the flight coordinate system, and removing the specified coordinates of the specified drawing cable points on the objects in the drawing. For example, the Germany company MVtec was able to calibrate the visualization algorithm of the HALCON machine using a high-carbon cycle plate recognized by the camera's parameters themselves. Together with the calibration plate that takes pictures from different angles of the camera, I guarantee that the calibration of the camera will be somewhat different. During the calibration phase, it is necessary to ensure that some basic parameters are defined as the aperture and focal length of the camera. After calibration, the camera's internal parameters do not change [3]. External parameters do not change depending on the orientation of the camera. In the absence of special circumstances, the first drawing will generally be used as a reference point for the world's coordinate system, as well as for the skill of calculating the external parameters of the camera.
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