CN112405620B - Five-target ball calibration tool for service machine humanization detection - Google Patents
Five-target ball calibration tool for service machine humanization detection Download PDFInfo
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- CN112405620B CN112405620B CN202011256420.8A CN202011256420A CN112405620B CN 112405620 B CN112405620 B CN 112405620B CN 202011256420 A CN202011256420 A CN 202011256420A CN 112405620 B CN112405620 B CN 112405620B
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- 238000001514 detection method Methods 0.000 title claims abstract description 12
- 239000000463 material Substances 0.000 claims abstract description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Abstract
The invention provides a five-target ball calibration tool for service machine humanization detection, which comprises a body, wherein five target balls are arranged on the body, are made of reflective materials, form a rigid body, and are provided with fitting center points of the rigid body.
Description
Technical Field
The invention relates to the technical field of robot detection, in particular to a five-target ball calibration tool for service robot humanization detection.
Background
At present, when service detection is carried out, the center point offset of the robot during movement is required to be detected, the original system uses only a piece of white paper, a square block divided into four parts is printed on the paper, the colors are alternately changed in black and white, then the paper is pasted on the robot, video is recorded through a camera, and when later data are processed, the center point of the robot is identified through black and white, and because the later processing of the camera is used, time is wasted, errors are generated due to the fact that the angle of view deviates when the optical camera is matched, and the system cannot measure the center rotation angle of the robot.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides a five-target ball calibration tool with high detection precision for service machine humanization detection, and solves the problems in the prior art.
(II) technical scheme
In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a five target ball demarcation instrument that is used for service machine humanized ability to detect, includes the body, be equipped with five target balls on the body, five the target ball is made by reflecting material, five the target ball forms a rigid body, be equipped with the fitting central point of rigid body on the body.
Further five target balls are detachably connected to the body.
(III) beneficial effects
In summary, the invention can avoid possible data errors of the optical camera, and can also display the data changes of each frame of the robot motion according to the central axis of the rigid body in the form of quaternion, thereby obtaining the rotation angle of the actual central point of the service robot and further improving the detection precision of the service robot.
Drawings
Fig. 1 is a schematic diagram of a five-target ball calibration tool for service robot humanity detection.
Labeling and describing: 1. a body; 2. a target ball; 3. fitting the center point.
Detailed Description
The utility model provides a five target ball 2 demarcation instrument that is used for service machine humanized ability to detect, includes body 1, be equipped with five target ball 2 on the body 1, five target ball 2 is by reflecting material makes, five target ball 2 forms a rigid body, be equipped with the fitting center point 3 of rigid body on the body 1.
When the robot is used, the middle target ball 2 is arranged at the central position of the robot, the reflection points of the five target balls 2 are acquired through the system, the five target balls 2 can be displayed in matched software, according to the spatial positions of the five target balls 2, the fitting central point 3 of a rigid body formed by the five target balls 2 can be calculated, because the spatial coordinate position of each target ball 2 is fixed with the spatial coordinate relative position of the fitting central point 3, when the fitting central point 3 of the rigid body is obtained, the position of the actual central point of the service robot can be calculated, so that data errors possibly occurring by an optical camera can be avoided, and because when the robot is actually used, when a calibration tool of the five target balls 2 is placed, the fitting central point 3 cannot be directly used as the actual central point due to the influence of appearance, the coordinate of another point needs to be converted and used, the other point can be designated as the actual central point position of the current robot in a mode of setting parameters, so that the detection of robots with different shapes can be adapted, the service robot can be realized, the service robot can be further rotated according to the data change of the four-element frames of the rigid body in the robot motion, the service robot can be further realized, and the service center accuracy of the service robot can be further realized.
In this embodiment, five target balls 2 are detachably connected to the body 1, and the positions of the target balls 2 can be adjusted according to actual requirements.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A five target ball demarcation instrument that is used for service machine humanized ability to detect which characterized in that: the device comprises a body, wherein five target balls are arranged on the body, each of the five target balls is made of a reflective material, the five target balls form a rigid body, and a fitting center point of the rigid body is arranged on the body;
the middle target balls are arranged at the central position of the robot, the reflecting points of the five target balls are collected through the system, the five target balls are displayed in matched software, and according to the spatial positions of the five target balls, the fitting central point of a rigid body formed by the five target balls can be calculated.
2. The five-target ball calibration tool for service robot human-based detection of claim 1, wherein: the five target balls are detachably connected to the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011256420.8A CN112405620B (en) | 2020-11-11 | 2020-11-11 | Five-target ball calibration tool for service machine humanization detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011256420.8A CN112405620B (en) | 2020-11-11 | 2020-11-11 | Five-target ball calibration tool for service machine humanization detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112405620A CN112405620A (en) | 2021-02-26 |
| CN112405620B true CN112405620B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011256420.8A Active CN112405620B (en) | 2020-11-11 | 2020-11-11 | Five-target ball calibration tool for service machine humanization detection |
Country Status (1)
| Country | Link |
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| CN (1) | CN112405620B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115139338B (en) * | 2022-06-30 | 2023-09-22 | 上海睿触科技有限公司 | Robot TCP quick high-precision calibration method |
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| DE102018010361A1 (en) * | 2018-05-24 | 2020-02-20 | Carl Zeiss Industrielle Messtechnik Gmbh | Target body with a plurality of markers, arrangement with target body and method for determining a position and / or an orientation of a target body |
| DE102018125840A1 (en) * | 2018-10-18 | 2020-04-23 | Megatron Elektronik Gmbh & Co. Kg | Tool Center Point |
| CN111168717A (en) * | 2019-12-20 | 2020-05-19 | 北京卫星制造厂有限公司 | Industrial robot based rigidity measurement loading device and joint rigidity identification method |
| CN210819622U (en) * | 2019-07-24 | 2020-06-23 | 哈尔滨工业大学（深圳） | Large-scale space high-precision online calibration system of mobile operation robot |
| CN111536874A (en) * | 2020-05-22 | 2020-08-14 | 吉林省计量科学研究院 | Robot pose detection system and method |
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2020
- 2020-11-11 CN CN202011256420.8A patent/CN112405620B/en active Active
Patent Citations (12)
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|---|---|---|---|---|
| CN104858870A (en) * | 2015-05-15 | 2015-08-26 | 江南大学 | Industrial robot measurement method based on tail end numbered tool |
| CN106643489A (en) * | 2016-11-07 | 2017-05-10 | 北京航空航天大学 | Ground quick response (QR) code calibration method and device based on laser tracker |
| CN106767417A (en) * | 2017-01-09 | 2017-05-31 | 中国工程物理研究院机械制造工艺研究所 | The four target ball combination metering devices and method of industrial robot pose |
| CN207215014U (en) * | 2017-05-12 | 2018-04-10 | 上海电器科学研究所（集团）有限公司 | A kind of industrial robot measures end target ball fast-positioning device |
| DE102018010361A1 (en) * | 2018-05-24 | 2020-02-20 | Carl Zeiss Industrielle Messtechnik Gmbh | Target body with a plurality of markers, arrangement with target body and method for determining a position and / or an orientation of a target body |
| DE102018125840A1 (en) * | 2018-10-18 | 2020-04-23 | Megatron Elektronik Gmbh & Co. Kg | Tool Center Point |
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| Publication number | Publication date |
|---|---|
| CN112405620A (en) | 2021-02-26 |
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