CN202622812U - Calibrating plate for visual system of robot - Google Patents
Calibrating plate for visual system of robot Download PDFInfo
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- CN202622812U CN202622812U CN 201220239126 CN201220239126U CN202622812U CN 202622812 U CN202622812 U CN 202622812U CN 201220239126 CN201220239126 CN 201220239126 CN 201220239126 U CN201220239126 U CN 201220239126U CN 202622812 U CN202622812 U CN 202622812U
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- scaling board
- round dot
- robot
- vision system
- robotic vision
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Abstract
A calibrating plate for a visual system of a robot in the technical field of robot vision comprises a calibrating plate block, a plurality of mark round points and a plurality of feature mark round points, wherein the mark round points and the feature mark round points are distributed on the calibrating plate block; the mark round points are distributed on the calibrating plate block in a rectangular array manner; the feature mark round points are generally positioned in the center and/or at four corners of the rectangular array of the mark round points and are black rings with circle center marks; the calibrating plate block is provided with borders in asymmetric shapes; and the borders are positioned outside the mark round points and the feature mark round points. The calibrating plate is simple in manufacturing, easy and convenient to operate, unique in gesture and high in generality, not only can be used for calibrating a camera, but also can be used for calibrating the visual system of the robot.
Description
Technical field
The utility model relates to a kind of device of field of machine vision, specifically is a kind of robotic vision system scaling board.
Background technology
Computer vision technique is applied to the industrial robot field, gives the important content that robot vision is a robot research; Its objective is will be through image processing, image understanding, to information such as robot movement-control system's feedback target or state of self and positions.Typical application utilizes the computer vision technique guided robot to remove to grasp target object exactly.
Computer vision robot field's research with use the generation that has caused robot vision.Robot vision is an important directions in robot research field.Robot vision (robot vision) is exactly to make robot have the system of visually-perceptible function.Robot vision can be obtained the two dimensional image of environment through vision sensor, and analyzes and explain through vision processor, and then converts symbol into, lets the robot can the identification object, and confirms its position.
Realize the various application in three-dimensional machine vision field, at first calibrating camera.In addition, obtain point-device result if desired and just must carry out camera calibration.If the precision that only promotes the result from the angle of algorithm is useless; Even if because can when detecting the edge, reach the precision of 1/40 pixel; But the calibrating camera influence that lens distortion causes when taking testee just can not reach several pixels, even and if this influence can not ignore when using the telecentric mirror head that distorts less relatively.
A typical application is exactly a robot vision in the three-dimensional machine vision field, that is to say that the result through machine vision controls the action of robot.In this application, just need carry out a kind of extra demarcation, we are referred to as hand-eye system and demarcate (hand-eye calibration), demarcate the position orientation relation that obtains between camera coordinate system and the robot coordinate system through hand-eye system.This demarcation only need be demarcated once under the situation of off-line; Use the result who demarcates can the image process result be transformed among the robot coordinate system by camera coordinate system, control the action of robot then through the position orientation relation between object and the robot coordinate system.
In a word,, the information translation in the camera coordinate system in the robot coordinate system, except calibrating camera, also need be demarcated hand-eye system, just confirm the Coordinate Conversion between video camera and the robot coordinate system for the information of using video camera to obtain.This just needs a kind of camera calibration that can conveniently be used for can conveniently be used for the shared scaling board that robotic vision system (hand-eye system) is demarcated again.
The utility model content
The above-mentioned deficiency that the utility model exists to prior art; A kind of robotic vision system scaling board is provided; Make simple, easy and simple to handle, attitude is unique, highly versatile, both can be used for camera calibration, can be used for the scaling board that robotic vision system is demarcated again.
The utility model realizes that through following technical scheme the utility model comprises: the scaling board plate, be distributed in some sign round dots and characteristic indication round dot on the scaling board plate.
Described some sign round dots distribute for rectangular array on the scaling board plate.
Described sign round dot is the solid black round dot.
The position that described characteristic indication round dot is commonly used is center and/or four corners that are positioned at the rectangular array of sign round dot.
Described characteristic indication round dot is the black annulus that has center mark.
Described center mark be shaped as the centre mark pattern, like cross.
Described scaling board plate is provided with the frame of asymmetric shape, and this frame is positioned at the outside of sign round dot and characteristic indication round dot.
The frame of described asymmetric shape is meant: one jiao of rectangular shaped rim that is provided with chamfering wherein.
The utlity model has following advantage:
1. make simply, can directly adopt printer prints scaling board design drawing.
2. easy and simple to handle: the center mark in the characteristic indication round dot makes confirms that pose or the position orientation relation ratio definite scaling board and robot tool (tool) coordinate system between of scaling board in robot base (base) coordinate system is easier to.
3. attitude is unique: the chamfering on the frame has determined that this scaling board is a kind of asymmetric scaling board, and this makes the demarcation success more easily of robotic vision system.
4. highly versatile: both can be used for Camera calibration, and can be used for the demarcation of robotic vision system again.
Description of drawings
Fig. 1 is the scaling board sketch map of embodiment 1;
Fig. 2 is the scaling board sketch map of embodiment 2;
The central point distribution map that respectively indicate round dot and characteristic indication round dot of Fig. 3 for finding in embodiment 2 calibration process.
The specific embodiment
Embodiment in the face of the utility model elaborates down.Present embodiment provided detailed embodiment and concrete operating process, but the protection domain of the utility model is not limited to following embodiment being to implement under the prerequisite with the utility model technical scheme.
Embodiment 1
As shown in Figure 1, present embodiment comprises: scaling board plate 1, be distributed in some sign round dots 2 and characteristic indication round dot 3 on the scaling board plate 1.
Described sign round dot 2 distributes for rectangular array on scaling board plate 1.
Described sign round dot 2 is the solid black round dot.
Described characteristic indication round dot 3 is positioned at center and four corners of the rectangular array of sign round dot 2.
Described characteristic indication round dot 3 is for having the black annulus of center mark 4.
Described center mark 4 be shaped as cross.
Described scaling board plate 1 is provided with the frame 5 of asymmetric shape, and this frame 5 is positioned at the outside of sign round dot 2 and characteristic indication round dot 3.
The frame 5 of described asymmetric shape is meant: one jiao of rectangular shaped rim that is provided with chamfering 6 wherein.
For enhancing contrast ratio, scaling board plate 1 is a background color with white.Generally speaking, available laser printer is printed the scaling board design drawing; For the higher application scenario of required precision, the dot spacing between the index point needs Precision Machining could guarantee required precision.The criss-cross solid black annulus of band center mark is for the ease of demarcating and establish robotic vision system.
Embodiment 2
As shown in Figure 2, described characteristic indication round dot 3 is positioned at the center of the rectangular array of sign round dot 2.Other and embodiment 1 identical setting.
Claims (9)
1. a robotic vision system scaling board is characterized in that, comprising: the scaling board plate, be distributed in some sign round dots and characteristic indication round dot on the scaling board plate.
2. robotic vision system scaling board according to claim 1 is characterized in that, described some sign round dots distribute for rectangular array on the scaling board plate.
3. robotic vision system scaling board according to claim 2 is characterized in that, described sign round dot is the solid black round dot.
4. robotic vision system scaling board according to claim 2 is characterized in that, the position that described characteristic indication round dot is commonly used is center and/or four corners that are positioned at the rectangular array of sign round dot.
5. according to claim 1 or 4 described robotic vision system scaling boards, it is characterized in that described characteristic indication round dot is the black annulus that has center mark.
6. robotic vision system scaling board according to claim 5 is characterized in that, described center mark be shaped as the centre mark pattern.
7. robotic vision system scaling board according to claim 5 is characterized in that, described center mark is a cross.
8. robotic vision system scaling board according to claim 1 is characterized in that described scaling board plate is provided with the frame of asymmetric shape, and this frame is positioned at the outside of sign round dot and characteristic indication round dot.
9. robotic vision system scaling board according to claim 8 is characterized in that, the frame of described asymmetric shape is meant: one jiao of rectangular shaped rim that is provided with chamfering wherein.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220239126 CN202622812U (en) | 2012-05-25 | 2012-05-25 | Calibrating plate for visual system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220239126 CN202622812U (en) | 2012-05-25 | 2012-05-25 | Calibrating plate for visual system of robot |
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| Publication Number | Publication Date |
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| CN202622812U true CN202622812U (en) | 2012-12-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220239126 Expired - Fee Related CN202622812U (en) | 2012-05-25 | 2012-05-25 | Calibrating plate for visual system of robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103278104A (en) * | 2013-05-23 | 2013-09-04 | 哈尔滨工业大学 | Calibration plate of double-camera system for DIC (Digital Image Correlation) measurement and calibration method thereof |
| CN105488779A (en) * | 2014-09-18 | 2016-04-13 | 宝山钢铁股份有限公司 | Camera distortion correction calibration board and calibration method |
| CN106767393A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | The hand and eye calibrating apparatus and method of robot |
| CN106737680A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | Hard disk array operation robot intended operating location scaling method |
| CN106885519A (en) * | 2017-03-21 | 2017-06-23 | 华北理工大学 | Femtosecond laser is micro-/receive the image calibration plate and its fixed plate of processing vision system |
| CN107330942A (en) * | 2017-06-20 | 2017-11-07 | 成都通甲优博科技有限责任公司 | A kind of calibrating template, scaling method, proving operation method and calibration system |
| CN107693959A (en) * | 2017-10-09 | 2018-02-16 | 沈阳东软医疗系统有限公司 | A kind of smooth launched field consistency detection die body, method, apparatus and equipment |
| CN109255818A (en) * | 2018-08-12 | 2019-01-22 | 浙江农林大学 | A kind of extracting method of novel target and its sub-pixel angle point |
| CN110148174A (en) * | 2019-05-23 | 2019-08-20 | 北京阿丘机器人科技有限公司 | Scaling board, scaling board recognition methods and device |
-
2012
- 2012-05-25 CN CN 201220239126 patent/CN202622812U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103278104B (en) * | 2013-05-23 | 2015-09-09 | 哈尔滨工业大学 | A kind of scaling board of the dual camera systems for DIC measurement and scaling method thereof |
| CN103278104A (en) * | 2013-05-23 | 2013-09-04 | 哈尔滨工业大学 | Calibration plate of double-camera system for DIC (Digital Image Correlation) measurement and calibration method thereof |
| CN105488779A (en) * | 2014-09-18 | 2016-04-13 | 宝山钢铁股份有限公司 | Camera distortion correction calibration board and calibration method |
| CN106767393B (en) * | 2015-11-20 | 2020-01-03 | 沈阳新松机器人自动化股份有限公司 | Hand-eye calibration device and method for robot |
| CN106767393A (en) * | 2015-11-20 | 2017-05-31 | 沈阳新松机器人自动化股份有限公司 | The hand and eye calibrating apparatus and method of robot |
| CN106737680A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | Hard disk array operation robot intended operating location scaling method |
| CN106885519A (en) * | 2017-03-21 | 2017-06-23 | 华北理工大学 | Femtosecond laser is micro-/receive the image calibration plate and its fixed plate of processing vision system |
| CN107330942A (en) * | 2017-06-20 | 2017-11-07 | 成都通甲优博科技有限责任公司 | A kind of calibrating template, scaling method, proving operation method and calibration system |
| CN107693959A (en) * | 2017-10-09 | 2018-02-16 | 沈阳东软医疗系统有限公司 | A kind of smooth launched field consistency detection die body, method, apparatus and equipment |
| US10737120B2 (en) | 2017-10-09 | 2020-08-11 | Shanghai Neusoft Medical Technology Co., Ltd. | Detecting consistency between radiation field and light field |
| CN109255818A (en) * | 2018-08-12 | 2019-01-22 | 浙江农林大学 | A kind of extracting method of novel target and its sub-pixel angle point |
| CN109255818B (en) * | 2018-08-12 | 2021-05-28 | 浙江农林大学 | Novel target and extraction method of sub-pixel level angular points thereof |
| CN110148174A (en) * | 2019-05-23 | 2019-08-20 | 北京阿丘机器人科技有限公司 | Scaling board, scaling board recognition methods and device |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 264000 No. 11 Dongyue Road, APEC science and Technology Industrial Park, Yantai, Shandong, Zhifu Patentee after: Shandong Tianze mesnac Technology Co. Ltd. Address before: 264000 No. 11 Dongyue Road, APEC science and Technology Industrial Park, Yantai, Shandong, Zhifu Patentee before: Shandong Tianze Soft Control & Technology Co., Ltd. |
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121226 Termination date: 20140525 |