基于HALCON的工业机器人视觉系统标定方法研究

Research on calibration method of industrial robot vision system based on HALCON

摄像机作为工业机器人的眼睛,相机的标定技术成为机器视觉的重要前提。在分析摄像机成像原理和标定原理的基础上,建立摄像机成像模型,使用基于MATLAB标定和基于视觉软件HALCON的两种摄像机标定算法,通过标定实验获得摄像机的内外参数矩阵,再对图像的畸变进行矫正,获得无畸变的数字图像,最后通过一组工件的目标定位对标定结果进行验证。实验结果表明,基于HALCON软件的摄像机标定误差小于0.3 mm,且系统运行稳定,标定方法简单,精度能够达到工业需求。

The camera is the eye of an industrial robot,and the camera calibration technology has become an important prerequisite for machine vision.Based on the analysis of the camera imaging principle and calibration principle,the camera imaging model is established.Two camera calibration algorithms based on MATLAB calibration and visual software HALCON are used to obtain the internal and external parameter matrix of the camera through calibration experiments,and then the distortion of the image is corrected to obtain the digital image without distortion.Finally,the calibration results are verified by the targeting of a group of parts.The experimental results show that the camera calibration error based on HALCON software is less than 0.3 mm,and the system runs stably,the calibration method is simple,and the accuracy can meet industrial requirements.