Vision acquisition and calibration method, device and system based on multi-degree-of-freedom mechanical arm

• Main Authors: XIANG DAO, MAO CHENGLIN, WANG SONG, WANG FENG, FENG HAIDONG
• Format: Patent
• Language: Chinese; English
• Published: 21.06.2019
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention belongs to the technical field of intelligent robots, and discloses a vision acquisition and calibration method based on a multi-degree-of-freedom mechanical arm. The method comprises the following steps that a designated point on the mechanical arm is kept fixed, and the mechanical arm is respectively rotated for one circle around at least two coordinate axes of a coordinate systemtaking the designated point as an original point; coordinates of each corner point on a calibration plate in the rotating process are obtained; a circle center coordinate of the motion track of the calibration plate and a space offset vector from each corner point to the designated point under a vision acquisition coordinate system on a designated frame are calculated; the posture of the mechanical arm is kept unchanged from the designated point to the tail end of the mechanical arm, and the mechanical arm is respectively translated towards different planes; a plurality of frames of images aresampled for the calibrati