Cognex AlignPlus 对位标定说明文档.pdf

发布时间：2022-06-15 发布人：admin 分类：说明书资料大小：9.11M 资料格式：pdf 举报版权申诉

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第1页.png

第1页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第2页.png

第2页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第3页.png

第3页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第4页.png

第4页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第5页.png

第5页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第6页.png

第6页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第7页.png

第7页 / 共37页

0596f840-f7f9-4367-864c-42f71d55b37b.pdf-第8页.png

第8页 / 共37页

Introduction

How Hand-Eye Calibration is Performed

Train Time

Run Time

Calibration Process

Train-Time Calibration Process

Run-Time Process Using Calibration Results

Hand-eye Calibration Coordinate Spaces

Raw2D

Home2D

Stage2D

Plate2D

Camera2D

Handedness of Coordinate Spaces

Transforms

General Transforms

Home2DFromStage2D

UncorrectedHome2DFromStage2D

Raw2DFromHome2D

ConvertUncorrectedHome2DFromStage2DToHome2DFromStage2D() and ConvertHome2DFromStage2DToUncorrectedHome2DFromStage2D() Conversion Functions

Raw2DFromCamera2D

Stationary Camera Configuration transforms

Home2DFromStationaryCamera2D

Stage2DFromMovingPlate2D

Moving Camera Configuration transforms

Home2DFromStationaryPlate2D

Stage2DFromMovingCamera2D

Transforms Overview

Motion Stage Validation

What AlignPlus Hand-Eye Calibration Does

Motion Capability Limitations

Fundamental Requirements and Residuals

Fixed Placement Pose of the Calibration Target and Cameras

Precision of Motion Stage

In-Plane Motion

Indications of Violations to Requirements

Residual Errors

Multi-Camera Hand-Eye Calibration

Sample application

AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 Version 1.0

Legal Notices The software described in this document is furnished under license, and may be used or copied only in accordance with the terms of such license and with the inclusion of the copyright notice shown on this page. Neither the software, this document, nor any copies thereof may be provided to, or otherwise made available to, anyone other than the licensee. Title to, and ownership of, this software remains with Cognex Corporation or its licensor. Cognex Corporation assumes no responsibility for the use or reliability of its software on equipment that is not supplied by Cognex Corporation. Cognex Corporation makes no warranties, either express or implied, regarding the described software, its merchantability, non-infringement or its fitness for any particular purpose. The information in this document is subject to change without notice and should not be construed as a commitment by Cognex Corporation. Cognex Corporation is not responsible for any errors that may be present in either this document or the associated software. No part of this document may be reproduced or transmitted in any form or by any means, electronic or mechanical, for any purpose, nor transferred to any other media or language without the written permission of Cognex Corporation. Copyright © 2014 Cognex Corporation. All Rights Reserved. Portions of the hardware and software provided by Cognex may be covered by one or more of the U.S. and foreign patents listed below as well as pending U.S. and foreign patents. Such pending U.S. and foreign patents issued after the date of this document are listed on Cognex web site at http://www.cognex.com/patents. VisionPro 5481712, 5495537, 5548326, 5583954, 5602937, 5640200, 5751853, 5768443, 5825913, 5850466, 5872870, 5901241, 5943441, 5978080, 5978521, 5987172, 6005978, 6039254, 6064388, 6075881, 6137893, 6141033, 6167150, 6215915, 6240208, 6324299, 6381366, 6381375, 6411734, 6421458, 6459820, 6490375, 6516092, 6563324, 6658145, 6687402, 6690842, 6697535, 6718074, 6748110, 6771808, 6804416, 6836567, 6850646, 6856698, 6920241, 6959112, 6963338, 6973207, 6975764, 6985625, 6993177, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7190834, 7242801, 7251366, 7313761, EP0713593, JP3522280, JP3927239 DataMan 5742037, 5943441, 6215915, 6236769, 6282328, 6381375, 6408109, 6457032, 6690842, 6941026, 7175090, 7181066, 7412106, 7427028, 7549582, 7604174, 7614563, 7617984, US-2005-0087601-A1, US-2006-0131418-A1, US-2006-0131419-A1, US-2006-0133757-A1, US-2007-0090193-A1, US-2007-0091332-A1, US-2007-0152064-A1, US-2007-0170259-A1, US-2008-0004822-A1, US-2008-0011855-A1, US-2008-0142604-A1, US-2008-0143838-A1, US-2008-0158365-A1, US-2009-0090781-A1, US-2009-0108073, US-2009-0121027-A1, US-2009-0166424-A1, US-2009-0294541-A1, WO06065619A1, EP1687752 CVL 5495537, 5548326, 5583954, 5602937, 5640200, 5717785, 5751853, 5768443, 5825483, 5825913, 5850466, 5859923, 5872870, 5901241, 5943441, 5949905, 5978080, 5987172, 5995648, 6002793, 6005978, 6064388, 6067379, 6075881, 6137893, 6141033, 6157732, 6167150, 6215915, 6240208, 6240218, 6324299, 6381366, 6381375, 6408109, 6411734, 6421458, 6457032, 6459820, 6490375, 6516092, 6563324, 6658145, 6687402, 6690842, 6718074, 6748110, 6751361, 6771808, 6798925, 6804416, 6836567, 6850646, 6856698, 6920241, 6959112, 6975764, 6985625, 6993177, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7190834, 7242801, 7251366, EP0713593, JP3522280, JP3927239 VGR 5495537, 5602937, 5640200, 5768443, 5825483, 5850466, 5859923, 5949905, 5978080, 5995648, 6002793, 6005978, 6075881, 6137893, 6141033, 6157732, 6167150, 6215915, 6324299, 6381375, 6408109, 6411734, 6421458, 6457032, 6459820, 6490375, 6516092, 6563324, 6658145, 6690842, 6748110, 6751361, 6771808, 6804416, 6836567, 6850646, 6856698, 6959112, 6975764, 6985625, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7190834, 7242801, 7251366 OMNIVIEW AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 2

Legal Notices 6215915, 6381375, 6408109, 6421458, 6457032, 6459820, 6594623, 6804416, 6959112, 7383536 CVL Vision Library 5495537, 5548326, 5583954, 5602937, 5640200, 5717785, 5751853, 5768443, 5825483, 5825913, 5850466, 5859923, 5872870, 5901241, 5943441, 5949905, 5978080, 5987172, 5995648, 6002793, 6005978, 6064388, 6067379, 6075881, 6137893, 6141033, 6157732, 6167150, 6215915, 6240208, 6240218, 6324299, 6381366, 6381375, 6408109, 6411734, 6421458, 6457032, 6459820, 6490375, 6516092, 6563324, 6658145, 6687402, 6690842, 6718074, 6748110, 6751361, 6771808, 6798925, 6804416, 6836567, 6850646, 6856698, 6920241, 6959112, 6975764, 6985625, 6993177, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7190834, 7242801, 7251366, EP0713593, JP3522280, JP3927239 SMD 4 5995648, 5850466, 6751361, 6690842, 6563324, 6490375, 5949905, 5978080, 6137893, 6167150, 6075881, 6748110, 5859923, 6411734, 6324299, 6516092, 7190834, 6658145, 6836567, 6850646, 6975764, 6985625, 6993192, 7006712, 7043081, 7058225, 7065262, 7088862, 7164796, 7251366, 6856698, 6002793, 6005978, 6771808, 6804416, 7016539, 6959112, 5602937, 7242801, 5640200, 5495537, 5768443, 5825483, 6421458, 6459820, 6215915, 6381375, 6457032, 6157732, 6408109, 6141033, 6026176, 6442291, 6151406, 6396942, 6614926, 5371690, 5845007, 5943441, 6963338, 5805722, 5909504, 5933523, 5964844, 5974169, 5987172, 6078700, 6252986, 6278796, 6307210, 6408429, 6424734, 6526165, 6571006, 6639624, 6681039, 6748104, 6813377, 6853751, 6898333, 6950548, 6993177, 7139421, 5757956 BGA II and BGA III 5495537, 5602937, 5640200, 5768443, 5801966, 5825483, 5850466, 5859923, 5949905, 5978080, 5995648, 6002793, 6005978, 6026176, 6055328, 6075881, 6115042, 6118893, 6130959, 6137893, 6141009, 6141033, 6151406, 6157732, 6167150, 6215915, 6289117, 6324299, 6353676, 6381375, 6396942, 6408109, 6411734, 6421458, 6442291, 6457032, 6459820, 6490375, 6516092, 6563324, 6577775, 6614926, 6658145, 6690842, 6748110, 6751361, 6771808, 6804416, 6836567, 6850646, 6856698, 6959112, 6975764, 6985625, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7190834, 7242801, 7251366 Wire Bonder 5495537, 5532739, 5581632, 5602937, 5640199, 5640200, 5642158, 5676302, 5754679, 5757956, 5768443, 5825483, 5835622, 5850466, 5859923, 5861909, 5949905, 5978080, 5991436, 5995648, 6002793, 6005978, 6035066, 6061467, 6075881, 6137893, 6141033, 6157732, 6167150, 6215915, 6289492, 6324299, 6381375, 6408109, 6411734, 6421458, 6457032, 6459820, 6490375, 6516092, 6563324, 6658145, 6690842, 6748110, 6751361, 6771808, 6804416, 6836567, 6850646, 6856698, 6959112, 6975764, 6985625, 6993192, 7006712, 7016539, 7043081, 7058225, 7065262, 7088862, 7164796, 7171036, 7190834, 7242801, 7251366 The following are registered trademarks of Cognex Corporation: acuReader® BGAII® Check it with Checker® Checker® Cognex Vision for Industry CVC-1000® CVL® DataMan® DisplayInspect® DVT® EasyBuilder® IDMax® In-SightIn-Sight 2000® In-Sight® (insignia with cross-hairs) MVS-8000® OmniView® PatFind® PatFlex® PatInspect® PatMax® PatQuick® SensorView® SmartLearn® SmartView® SMD4® UltraLight® Vision Solutions® VisionPro® VisionView® The following are trademarks of Cognex Corporation: 3D-Locate™ 3DMax™ CheckPoint™ Cognex VSoC™ FFD™ iLearn™ InspectEdge™ Legend™ LineMax™ NotchMax™ ProofRead™ SmartAdvisor™ SmartSync™ SmartSystem™ Other product and company names mentioned herein are the trademarks, or registered trademarks, of their respective owners. AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 3

Contents Introduction ..........................................................................................................................6 How Hand-Eye Calibration is Performed ............................................................................... 11 Train Time ................................................................................................................................... 11 Run Time ..................................................................................................................................... 11 Calibration Process ...................................................................................................................... 12 Train-Time Calibration Process ................................................................................................ 12 Run-Time Process Using Calibration Results ............................................................................ 16 Hand-eye Calibration Coordinate Spaces .............................................................................. 18 Raw2D ......................................................................................................................................... 18 Home2D ...................................................................................................................................... 19 Stage2D ....................................................................................................................................... 21 Plate2D ........................................................................................................................................ 23 Camera2D .................................................................................................................................... 25 Handedness of Coordinate Spaces .............................................................................................. 26 Transforms .......................................................................................................................... 27 General Transforms .................................................................................................................... 27 Home2DFromStage2D.............................................................................................................. 27 UncorrectedHome2DFromStage2D ......................................................................................... 27 Raw2DFromHome2D................................................................................................................ 27 ConvertUncorrectedHome2DFromStage2DToHome2DFromStage2D() and ConvertHome2DFromStage2DToUncorrectedHome2DFromStage2D() Conversion Functions .................................................................................................................................................. 27 Raw2DFromCamera2D ............................................................................................................. 27 Stationary Camera Configuration transforms ............................................................................. 27 Home2DFromStationaryCamera2D ......................................................................................... 27 Stage2DFromMovingPlate2D ................................................................................................... 28 AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 4

Contents Moving Camera Configuration transforms ................................................................................. 28 Home2DFromStationaryPlate2D .............................................................................................. 28 Stage2DFromMovingCamera2D ............................................................................................... 28 Transforms Overview .................................................................................................................. 29 Motion Stage Validation....................................................................................................... 31 What AlignPlus Hand-Eye Calibration Does ........................................................................... 32 Motion Capability Limitations ..................................................................................................... 32 Fundamental Requirements and Residuals ................................................................................ 33 Fixed Placement Pose of the Calibration Target and Cameras ................................................ 33 Precision of Motion Stage ........................................................................................................ 33 In-Plane Motion........................................................................................................................ 34 Indications of Violations to Requirements ............................................................................... 34 Residual Errors ......................................................................................................................... 34 Multi-Camera Hand-Eye Calibration...................................................................................... 36 Sample application .............................................................................................................. 37 AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 5

Introduction Introduction AlignPlus hand-eye calibration allows you to calibrate images obtained with your cameras to the platform on which the object to be inspected is and whose position relative to your cameras moves. The images you obtain using your cameras may exhibit lens distortion and perspective distortion, your motion system input may be offset from the actual position it moves to and it may have systematic errors as well. AlignPlus hand-eye calibration allows you to view and inspect features of objects in an undistorted manner (with physically correct length units) and with placement in the native coordinate system of the motion system. That is, it shows you the object to be inspected in its real physical appearance and it tells you where that object is (in the native coordinate space). The following are determined regarding your motion system during calibration: • Origin and axis directions of native coordinate space – the native coordinate space of the motion system is determined as a mapping from the image coordinate space for each camera • Systematic errors along the axes of movement – systematic motion system errors are corrected Note: Even a configuration with a perfect motion system (that is, one that performs the movements as required within precision thresholds) and no image distortions requires hand-eye calibration because the mappings between each image coordinate space and the native coordinate space need to be determined. These mappings enable positioning image features in the native coordinate space. In other words, by establishing these mappings, correspondence is established between features found in images taken by the cameras to the physical coordinates of these features in the native coordinate space. To get basic feedback on your motion stage and identify problems before hand-eye calibration, you perform motion stage validation before hand-eye calibration. AlignPlus hand-eye calibration is a 2D calibration, it calibrates images in the plane of the platform on which the object to be inspected is. This tool provides no 3D information. There are two types of scenarios: either the platform moves with the object to be inspected and the cameras are stationary or the cameras move and the platform with the object to be inspected is stationary. AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 6

The following figure illustrates this with a single camera. Introduction The motion system performs planar movement: • • It can move in the X and Y directions, It can perform Theta rotation based on your inputs. AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 7

The following figures demonstrate the X and Y movements and the Theta rotation of the motion stage. Introduction AlignPlus 2D Hand-Eye Calibration Concepts 5/12/2014 | Version 1.0 P a g e | 8

分享到：

赞收藏

资料库

Cognex AlignPlus 对位标定说明文档.pdf

相关推荐

后端

热门标签

最新资料