JPH04100573A - Correction method of shifting of camera coordinate system - Google Patents
Correction method of shifting of camera coordinate systemInfo
- Publication number
- JPH04100573A JPH04100573A JP18478790A JP18478790A JPH04100573A JP H04100573 A JPH04100573 A JP H04100573A JP 18478790 A JP18478790 A JP 18478790A JP 18478790 A JP18478790 A JP 18478790A JP H04100573 A JPH04100573 A JP H04100573A
- Authority
- JP
- Japan
- Prior art keywords
- camera
- coordinate system
- camera coordinate
- lens
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 7
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 230000003287 optical effect Effects 0.000 claims abstract description 3
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 1
- 230000009466 transformation Effects 0.000 abstract description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は平面上に置かれたワークを、ＣＣＤカメラ等で
撮像することにより、そのワークの位置を測定するとき
、ＣＣＤカメラがずれてしまった場合、そのずれを補正
して正確なワークの位置を得る方式に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention uses a CCD camera or the like to take an image of a workpiece placed on a flat surface, thereby preventing the CCD camera from shifting when measuring the position of the workpiece. The present invention relates to a method for correcting the deviation and obtaining an accurate position of the workpiece.
工場の生産工程等において、カメラを利用した視覚装置
により、ワークの位置を測定するためには、ワークのカ
メラ座標系における座標を求めることが多い。この視覚
装置とロボットを組み合わせたシステムにおいては、カ
メラ座標系とロボット座標系を一致させるのが一般的で
ある（例えば、特開平１−６６５０８参照）。In order to measure the position of a workpiece using a visual device using a camera in a factory production process, etc., the coordinates of the workpiece in a camera coordinate system are often determined. In a system that combines a visual device and a robot, it is common to match the camera coordinate system with the robot coordinate system (see, for example, Japanese Patent Laid-Open No. 1-66508).
しかしながら、何等かの理由により、カメラの位置がず
れた場合、カメラ座標系の位置がずれてしまい、それ以
前と以後で測定位置情報の意味が興なってしまうため、
測定作業をやり直す必要があるという問題があった。However, if the position of the camera shifts for some reason, the position of the camera coordinate system will shift, and the meaning of the measured position information will change between before and after.
There was a problem in that the measurement work had to be redone.
特にロボットがカメラを保持しているケースではずれる
可能性が高かった。There was a high possibility that the camera would come off, especially in cases where the robot was holding the camera.
そこで、本発明はカメラの位置がずれた場合にそのずれ
を補正する方式を提供することを目的とする。Therefore, it is an object of the present invention to provide a method for correcting a shift in the position of a camera.
本発明は、カメラの視野内に存在する２か所のマークの
カメラ座標系Ｃにおける座標Ｐ１、Ｐ２を基準マーク位
置として視覚装置に記憶しておき、カメラの位置がずれ
てしまった場合には、その時点での前記マークのカメラ
座標系Ｃ゛における座標ＰＩ’ 、 Ｐ２’を求め、Ｐ
ｉ、 Ｐ２とＰｉ′、 Ｐ２’の関係よりカメラ座標系
ｃ、ｃ’ 間の座標変換式Ｔを求めておく。基準マーク
位置との関係を平行移動と回転の関係で近似して、カメ
ラ座標変換式を算出し、カメラの位置ずれによるカメラ
座標系のずれを補正するものである。The present invention stores coordinates P1 and P2 in the camera coordinate system C of two marks within the field of view of the camera as reference mark positions in the visual device, and when the camera position shifts, , find the coordinates PI' and P2' of the mark in the camera coordinate system C' at that point, and calculate P
A coordinate transformation formula T between camera coordinate systems c and c' is determined from the relationship between i, P2 and Pi', P2'. A camera coordinate conversion formula is calculated by approximating the relationship with the reference mark position by a relationship of parallel movement and rotation, and a shift in the camera coordinate system due to a positional shift of the camera is corrected.
Ｃ作 用〕
計測時に、カメラ座標系Ｃ′における座ｓｐｏ’を検出
した後、Ｔにより、ＰＯｏをカメラ座標系Ｃにおける座
標ＰＯに変換することができる。ＰＯが、カメラの位置
ずれが無い場合に計測される座標である。C action] During measurement, after detecting the locus spo' in the camera coordinate system C', POo can be converted to the coordinate PO in the camera coordinate system C by T. PO is the coordinate measured when there is no positional shift of the camera.
以下に、ロボットマニピュレータにカメラを取り付けた
場合において、マーク２点によりカメラ座標系のずれを
補正する方法を説明する。Below, a method for correcting a shift in the camera coordinate system using two marks when a camera is attached to a robot manipulator will be described.
■ 第１図に示すように、基準となる２つのマークＭ１
、Ｍ２をロボットベースに対して固定された位置に設け
る。例えば、実際の位置計測対象は作業台の上に載って
いる場合でも、基準となるマークは作業台の上ではなく
、床の上に設定しても良いということである。なお、マ
ークの形は、ここでは×印としているがこれに限定され
ることはない。■ As shown in Figure 1, two marks M1 serve as standards.
, M2 are provided at fixed positions relative to the robot base. For example, even if the actual position measurement target is placed on a workbench, the reference mark may be set on the floor instead of on the workbench. Note that although the shape of the mark is an x mark here, it is not limited to this.
■ マニピュレータを次の３条件を満足する位置と姿勢
に動作させ、このときのマニピュレータの姿勢をカメラ
位置調整姿勢として教示しておく。■ Move the manipulator to a position and attitude that satisfy the following three conditions, and teach the attitude of the manipulator at this time as the camera position adjustment attitude.
・カメラの視野にＭｌ、Ｍ２が入ること。・Ml and M2 should be in the field of view of the camera.
・カメラのレンズ光軸はＭｌとＭ２を結ぶ直線を含む平
面と垂直に交わること。- The camera lens optical axis must intersect perpendicularly to the plane containing the straight line connecting Ml and M2.
・前記平面とレンズ間の距離りは、実際の位置計測対象
とレンズ間の距離（第２図参照）。- The distance between the plane and the lens is the actual distance between the position measurement target and the lens (see Figure 2).
と等しいこと。be equal to
■ ■の状態で、旧、Ｍ２のカメラ座標系における座標
を求め、各々基準マーク位置Ｐ１・（Ｐｌｘ、Ｐｌｙ）
、Ｐ２＝（Ｐ２ｘ、 Ｐ２ｙ）として記憶しておく。■ In the state of ■, find the coordinates in the camera coordinate system of old and M2, and respectively set the reference mark position P1 (Plx, Ply).
, P2=(P2x, P2y).
■ 位置計測を実行する。■ Execute position measurement.
そして、カメラの位置がずれた場合には、以下の手続き
をふむ。If the camera position shifts, the following procedure is performed.
■ 第３図に示すように、マニピュレータをカメラ位置
調整姿勢にする。■ Place the manipulator in the camera position adjustment position as shown in Figure 3.
■ Ｍｌ、Ｍ２のこの時点でのカメラ座標系における座
標Ｐ１’＝（Ｐｌｘ’、Ｐｌｙ’） 、Ｐ２’＝（Ｐ２
ｘ’、Ｐ２ｙ’）を求め、■で記憶した基準マーク位置
Ｐ１、Ｐ２との関係によりカメラ座標系のずれを表すカ
メラ座標変換式をもとめる。■ Coordinates of Ml and M2 in the camera coordinate system at this point P1'=(Plx', Ply'), P2'=(P2
x', P2y'), and obtain a camera coordinate conversion formula representing the deviation of the camera coordinate system based on the relationship with the reference mark positions P1 and P2 stored in step (3).
本発明では、座標系のずれをＰｌとＰ２の結ぶ直線の平
行移動と、ＰｌとＰ２の結ぶ直線上の一点を中心とした
回転に近似させる。下記に、Ｐｌに近い方の点ＰＩ’
を回転の中心とした例を示す。In the present invention, the displacement of the coordinate system is approximated by parallel movement of a straight line connecting Pl and P2 and rotation about a point on the straight line connecting Pl and P2. Below, the point PI' which is closer to Pl
Here is an example where is the center of rotation.
第４図に示ずれ量（△Ｘ、△ｙ、△θ）は次の式で求ま
る。The amount of deviation (ΔX, Δy, Δθ) shown in FIG. 4 is determined by the following formula.
△ｘ＝ Ｐｌｘ’ −Ｐｌｘ
△７＝ ｐ１ｙ’ −ｐ１ｙ
△θ＝ ｊａｎ −’ （Ｄ／Ｃ） −ｔａｎ −
’ （Ｂ／Ａ）ここで、Ａ＝Ｐ２ｘ゛−Ｐｌｘ
Ｂ＝Ｐ２Ｙ’ −ＦＬＹ
Ｃ＝Ｐ２ｘ −Ｐｌｘ
Ｄ＝Ｐ２Ｙ −ｐｘｙ
■ 位置計測を行う場合、■で求めたカメラ座標変換式
により、位置補正を行う。△x= Plx' - Plx △7= p1y' - p1y △θ= jan -' (D/C) -tan -
' (B/A) Here, A=P2x゛-Plx B=P2Y' -FLY C=P2x -Plx D=P2Y -pxy ■ When performing position measurement, use the camera coordinate conversion formula obtained in ■ to correct the position. I do.
すなわち、次のように新たなｘ、ｙ、 θを求める。That is, find new x, y, and θ as follows.
Ｘ−△Ｘ → Ｘ
ｙ−△ｙ”ｙ
θ〜△θ → θ
〔発明の効果〕
以上述べたように、この発明によれば、カメラの位置ず
れによる、カメラ座標系のずれを補正して位置計測をお
こなうことが可能である。計測途中において、カメラの
位置がずれるような事故が発生しても、カメラ座標系の
ずれを補正し、そのまま、計測を続けることが可能とな
るため、計測作業の能率が向上する。X-△X → It is possible to perform position measurement.Even if an accident occurs in which the camera position shifts during measurement, it is possible to correct the shift in the camera coordinate system and continue measurement. Work efficiency improves.
第１図、第２図、第３図は本発明の詳細な説明する図、
第４図は本発明の詳細な説明する図である。FIGS. 1, 2, and 3 are diagrams illustrating detailed explanations of the present invention;
FIG. 4 is a diagram illustrating the present invention in detail.
Claims (1)
位置を計測するときに、 カメラの視野内に、２点を結ぶ直線を含む平面とレンズ
光軸が垂直に交わり、この平面とレンズ間の距離が位置
計測対象が置かれる平面とレンズ間の距離と同一である
ような２点の各位置にマークをつけ、 この２つのマークのカメラ座標系における座標を基準マ
ーク位置として記憶しておき、 カメラの位置がずれた場合には、その時点でのカメラ座
標系における前記マークの座標を求めて、前記基準マー
ク位置との関係を前記２点を結ぶ直線の平行移動と、前
記２点を結ぶ直線上の一点を中心とした回転の関係で近
似して、カメラ座標変換式を算出して補正することによ
りカメラの位置ずれによるカメラ座標系のずれを補正す
るカメラ座標系ずれ補正方法。[Claims] When measuring the position by obtaining image data of a detection target using a camera, the optical axis of the lens perpendicularly intersects a plane containing a straight line connecting two points within the field of view of the camera. Mark each position of two points where the distance between the lenses is the same as the distance between the plane on which the position measurement target is placed and the lens, and store the coordinates of these two marks in the camera coordinate system as the reference mark positions. If the position of the camera shifts, the coordinates of the mark in the camera coordinate system at that time are determined, and the relationship with the reference mark position is determined by the parallel movement of the straight line connecting the two points, and the coordinates of the mark in the camera coordinate system at that time. A camera coordinate system deviation correction method that corrects deviations in the camera coordinate system due to camera positional deviation by calculating and correcting camera coordinate conversion formulas by approximating rotational relationships around one point on a straight line connecting points. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18478790A JP2932445B2 (en) | 1990-07-11 | 1990-07-11 | Camera coordinate system deviation correction method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP18478790A JP2932445B2 (en) | 1990-07-11 | 1990-07-11 | Camera coordinate system deviation correction method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH04100573A true JPH04100573A (en) | 1992-04-02 |
| JP2932445B2 JP2932445B2 (en) | 1999-08-09 |
Family
ID=16159286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP18478790A Expired - Lifetime JP2932445B2 (en) | 1990-07-11 | 1990-07-11 | Camera coordinate system deviation correction method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2932445B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1158273A (en) * | 1997-08-12 | 1999-03-02 | Denso Corp | Mobile robot device |
| JP2005334998A (en) * | 2004-05-25 | 2005-12-08 | Fuji Photo Film Co Ltd | Self-propelled robot hand, and its camera adjusting method, hand moving amount correcting method and hand adjusting method |
| JP2006301991A (en) * | 2005-04-21 | 2006-11-02 | Pulstec Industrial Co Ltd | Correction method of coordinate transformation function |
| JP2017077614A (en) * | 2015-10-22 | 2017-04-27 | キヤノン株式会社 | Teaching point correction method, program, recording medium, robot device, photographing point generation method, and photographing point generation device |
| JP2020044526A (en) * | 2018-09-21 | 2020-03-26 | Ntn株式会社 | Liquid material coating device |
| CN114229396A (en) * | 2022-02-18 | 2022-03-25 | 深圳市创新特科技有限公司 | Correcting device and correcting method for pick-and-place position of circuit board |
-
1990
- 1990-07-11 JP JP18478790A patent/JP2932445B2/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1158273A (en) * | 1997-08-12 | 1999-03-02 | Denso Corp | Mobile robot device |
| JP2005334998A (en) * | 2004-05-25 | 2005-12-08 | Fuji Photo Film Co Ltd | Self-propelled robot hand, and its camera adjusting method, hand moving amount correcting method and hand adjusting method |
| JP2006301991A (en) * | 2005-04-21 | 2006-11-02 | Pulstec Industrial Co Ltd | Correction method of coordinate transformation function |
| JP2017077614A (en) * | 2015-10-22 | 2017-04-27 | キヤノン株式会社 | Teaching point correction method, program, recording medium, robot device, photographing point generation method, and photographing point generation device |
| JP2020044526A (en) * | 2018-09-21 | 2020-03-26 | Ntn株式会社 | Liquid material coating device |
| CN114229396A (en) * | 2022-02-18 | 2022-03-25 | 深圳市创新特科技有限公司 | Correcting device and correcting method for pick-and-place position of circuit board |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2932445B2 (en) | 1999-08-09 |
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