Chapter 1: Calibration and Debugging
Wide-View Camera Calibration
Step - 1
1. Double-click to open the RuBen main software program.
2. Connect the camera device.
3. In the coordinate system settings, select the Left Camera Coordinate System.
Step - 2
1. Double-click to open the intelligent special machine program;
2. In the panorama parameters, fill in the camera name according to the camera serial number found by the body software;
3. After completing the input, click OK.
Step - 3
1. Place the calibration hexahedron directly below the camera (note that the calibration component must be placed within the working range of the main control robot, and a flat plate larger than the hexahedron must be placed underneath it), then connect the global camera to capture the image.
2. After image acquisition, crop the point cloud range, trimming it to remove any cluttered point clouds from other parts of the scene, leaving only the point clouds within the hexahedron and the flat plate area.
Step - 4
1. Click “Start Online” to connect to the main control robot.
2. Click the hexahedron calculation button under the acquisition and calculation list. If the calculated yellow marker line fits the hexahedron contour in a counterclockwise direction, it indicates that the hexahedron calculation is normal.
Step - 5
It should be noted that the inner circle of the yellow marking line starts from the origin.X+and Y+The direction point is a fixed direction relative to the origin, as shown in the figure below (note that the right side view is clickedBottom
Step - 6
1. Use the master robot to open the user coordinate system page.
2. choose wobj5 and Enter the calibration page (note that you need to use tool and wobj1 to Perform user calibration)
Step - 7
1. Align the tip of the welding gun to the origin of the hexahedron calculation and click the teach button.
2. After the first point teaching is completed, align the welding gun tip with the hexahedron calculationX+After that, click the teach button (pay attention to the setting of the calibration direction)
Step - 8
1. After the second point teaching is completed, align the welding gun tip with the hexahedron calculation Y+ After that, click the Teach button.
2. After the three points are taught, click the Calculate and Save buttons in sequence to complete the user calibration.
Step - 9
1. After the user completes the calibration, return to the special machine software and click the “Online” button, then switch the teach pendant user to wobj5.
2. Click the “Calibrate Global Camera” button under the global menu. When prompted whether PCS has been switched to the calibrated PCS, if the position control on the left shows PCS5, click Yes.
3. After the calibration completion popup appears, the global camera calibration is complete.
