In the application of visual positioning in 3C, printing, automobile, new energy and other industries, due to the limitation of the actual scene, such as the limited camera mounting height, a single camera can not capture all materials at this time. In order to achieve more accurate positioning, multiple cameras must be used to capture materials to achieve positioning guidance.

1. Multi camera positioning guidance system

Multi camera positioning guidance system refers to unifying the camera coordinates by taking pictures of the relative movement between the camera and the object to be measured. As long as one side of the camera and the object to be measured moves, record the coordinates of each position in the movement, and then unify the coordinates through the matrix relationship.

Generally, the camera position is fixed, and the measured object moves through the manipulator and other moving devices, and then the camera coordinate system is transferred to the mechanical coordinates of the manipulator and other moving devices.

2. System operation principle

Multiple cameras are calibrated separately, and the matrix relationship between the camera's image coordinate system and the mechanical coordinate system is established respectively, so as to realize the image coordinate and physical coordinate system I of all cameras.

1. Grab the standard parts to the proper position mechanically.

2. The camera takes a standard part and obtains 9 groups of corresponding image coordinates and mechanical coordinates with the stable feature points of the standard part.

3. Rotate the product 5 times to obtain the corresponding image coordinates and mechanical coordinates.

4. Calculate the corresponding matrix relationship according to 15 groups of corresponding coordinates.

3. System use process

The operation process only requires five steps: connecting the camera - collecting images - implementing calibration - processing images - outputting results, which enables the robot arm to achieve flexible and fast operations.

01. Link Camera

Configure the corresponding camera according to the actual situation, and test to ensure that the camera works normally.

02. Image acquisition

Select the configured camera.

03. Implement calibration

According to the actual situation on site, the corresponding image features are selected for N-point calibration.

04. Process Image

Collect the actual product image, obtain the corresponding image features, use coordinate mapping to convert the image features to mechanical coordinates, use mathematics to calculate the geometric relationship, and calculate the offset and rotation angle of the current product center point.

05. Output Results

According to the actual situation, send the data to the manipulator or PLC.

4. Industry advantages

In the application of the combination of machine vision and (industrial mechanical arm) robots, the multi camera guided positioning system is widely used, and has unique technical advantages:

I Automatic identification and positioning of workpieces;

I Automatically judge and measure the center position;

I Automatic rotation angle judgment and measurement;

5. Application field

Multi camera positioning and guidance system is widely used in 3C, automobile, new energy, printing and other industries with its advantages of high accuracy, simple operation and high integration, and is highly praised by customers in various industries.

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