CN206568190U - A kind of depth camera caliberating device that field is captured for industrial robot - Google Patents
A kind of depth camera caliberating device that field is captured for industrial robot Download PDFInfo
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- CN206568190U CN206568190U CN201720201711.4U CN201720201711U CN206568190U CN 206568190 U CN206568190 U CN 206568190U CN 201720201711 U CN201720201711 U CN 201720201711U CN 206568190 U CN206568190 U CN 206568190U
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- depth camera
- industrial robot
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- arm tooling
- caliberating device
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Abstract
The utility model discloses a kind of depth camera caliberating device that field is captured for industrial robot, including industrial robot, end-of-arm tooling, depth camera its special calibrating plate and depth camera, the end-of-arm tooling is arranged on the end of industrial robot, depth camera its special calibrating plate is fixed on end-of-arm tooling and depth camera its special calibrating plate includes hollow out gridiron pattern and transparency glass plate, hollow out gridiron pattern is arranged on transparency glass plate, and depth camera is fixed on the top of workbench.The utility model is used for the depth camera caliberating device of industrial robot field, it is simple for structure light and handy, the Fast Calibration function of joining inside and outside the depth camera for industrial robot field can be just realized by easily installing, and the robot and end-of-arm tooling of different model can be adapted to, strong applicability, is adapted to widely use in industrial robot field.
Description
Technical field
The utility model is related to industrial robot field, specifically a kind of depth phase that field is captured for industrial robot
Machine caliberating device.
Background technology
Continuous improvement with labor cost and industrial robot control, planning, recognition methods are continued to develop, and are used
Industrial robot replaces the artificial degree more and more higher for carrying out automated production.The most basic application method of industrial robot is uneasy
Any sensor is filled, some actions fixed can only be carried out in fixed scene by teaching or be programmed in.With robot
Application environment and goal task become increasingly complex changeable, it is necessary to install some sensings in the environment or on robot body
Device, wherein depth camera are the very important sensors of one type.Relative to traditional 2D cameras, depth camera can be observed
To the depth information of object, it is thus possible to the position of easier determination object in space.But it is applied to by depth camera
During robot field, problems with is run into：1st, different from common 2D cameras, depth camera can not see common 2D demarcation chessboard
Lattice, thus, it can only be demarcated during demarcation using the scaling board of special spatial configuration, so that calibration process is complex；
2nd, spatial configuration scaling board is also relatively difficult in processing, and this just brings inconvenience for the application of depth camera.
Utility model content
The purpose of this utility model is a kind of depth camera caliberating device that field is captured for industrial robot of offer,
To solve the problems mentioned in the above background technology.
To achieve the above object, the utility model provides following technical scheme：
It is a kind of for industrial robot capture field depth camera caliberating device, including industrial robot, end-of-arm tooling,
Depth camera its special calibrating plate and depth camera, the end-of-arm tooling are arranged on the end of industrial robot, and depth camera is special
Scaling board is fixed on end-of-arm tooling and depth camera its special calibrating plate includes hollow out gridiron pattern and transparency glass plate, hollow out chess
Disk lattice are arranged on transparency glass plate, and depth camera is fixed on the top of workbench.
It is used as further program of the utility model：Depth camera its special calibrating plate is fixed by dismountable connection member
On end-of-arm tooling.
It is used as further program of the utility model：Transparency glass plate is made using lucite.
Compared with prior art, the beneficial effects of the utility model are：The utility model is used for industrial robot field
Depth camera caliberating device, it is simple for structure light and handy, it can just realize the depth for industrial robot field by easily installing
The Fast Calibration function of the inside and outside ginseng of camera is spent, and the robot and end-of-arm tooling of different model can be adapted to, strong applicability is fitted
Conjunction is widely used in industrial robot field.
Brief description of the drawings
Fig. 1 is the structural representation for the depth camera caliberating device that field is captured for industrial robot.
Fig. 2 is the knot of depth camera its special calibrating plate in the depth camera caliberating device for capture field for industrial robot
Structure schematic diagram.
Wherein：1- industrial robots, 2- end-of-arm toolings, 3- depth camera its special calibrating plates, 31- hollow out gridiron patterns, 32- is saturating
Bright glass plate, 4- depth cameras.
Embodiment
The technical scheme of this patent is described in more detail with reference to embodiment.
Refer to Fig. 1-2, a kind of depth camera caliberating device that field is captured for industrial robot, including industrial machine
People 1, end-of-arm tooling 2, depth camera its special calibrating plate 3 and depth camera 4, the end-of-arm tooling 2 are arranged on industrial robot 1
End, depth camera its special calibrating plate 3 is fixed on end-of-arm tooling 2 and depth camera its special calibrating plate 3 includes hollow out chessboard
Lattice 31 and transparency glass plate 32, hollow out gridiron pattern 31 are arranged on transparency glass plate 32, and depth camera 4 is fixed on the upper of workbench
Side.Depth camera its special calibrating plate 3 is fixed on end-of-arm tooling 2 by dismountable connection member.Transparency glass plate 32 is used
Lucite makes.
Operation principle of the present utility model is：The workflow of the device is as follows：First, the device is placed in depth camera
Within sweep of the eye, several pictures of camera calibration plate are shot using depth camera；Second, using Robust Algorithm of Image Corner Extraction from picture
Extract X-comers；3rd, depth camera internal reference is demarcated using conventional 2D camera calibrations method, depth camera is obtained
Internal reference；4th, depth camera its special calibrating plate is fixed on the end-of-arm tooling of industrial robot, driven by robot motion
Scaling board is moved, and scaling board image is gathered by depth camera；5th, depth camera phase is calculated according to the image collected
For the outer ginseng of depth camera its special calibrating plate；6th, with reference to the terminal position of industrial robot, utilize hand and eye calibrating method mark
Determine outer ginseng of the depth camera its special calibrating plate relative to industrial robot.
Depth camera based on structure light or TOF principles, when observing tradition 2D scaling boards (plane gridiron pattern), due to
Three-dimensional feature is had no on scaling board, thus, depth camera 4 can not observe traditional 2D scaling boards, i.e., can not directly use 2D
Camera calibration plate (plane gridiron pattern) is demarcated to depth camera 4；And the depth camera its special calibrating for using this patent to propose
Plate 3, due to the translucency and the opaqueness of paper of glass, thus, the glass depth corresponding in depth camera 4 with paper
Degree information is just significantly different, and so, depth camera 4 just can clearly observe gridiron pattern information in depth map, further
, depth camera can be demarcated based on translucent depth camera its special calibrating plate described above.
It is obvious to a person skilled in the art that the utility model is not limited to the details of above-mentioned one exemplary embodiment, and
And in the case of without departing substantially from spirit or essential attributes of the present utility model, can realize that this practicality is new in other specific forms
Type.Therefore, no matter from the point of view of which point, embodiment all should be regarded as exemplary, and is nonrestrictive, this practicality is new
The scope of type limits by appended claims rather than described above, it is intended that the equivalency fallen in claim is contained
All changes in justice and scope are included in the utility model.Any reference in claim should not be considered as limitation
Involved claim.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that for clarity, those skilled in the art should
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It may be appreciated other embodiment.
Claims (3)
1. it is a kind of for industrial robot capture field depth camera caliberating device, it is characterised in that including industrial robot,
End-of-arm tooling, depth camera its special calibrating plate and depth camera, the end-of-arm tooling are arranged on the end of industrial robot, depth
Camera its special calibrating plate is fixed on end-of-arm tooling and depth camera its special calibrating plate includes hollow out gridiron pattern and clear glass
Plate, hollow out gridiron pattern is arranged on transparency glass plate, and depth camera is fixed on the top of workbench.
2. the depth camera caliberating device according to claim 1 that field is captured for industrial robot, it is characterised in that
The depth camera its special calibrating plate is fixed on end-of-arm tooling by dismountable connection member.
3. the depth camera caliberating device according to claim 1 or 2 that field is captured for industrial robot, its feature exists
In the transparency glass plate is made using lucite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720201711.4U CN206568190U (en) | 2017-03-03 | 2017-03-03 | A kind of depth camera caliberating device that field is captured for industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201720201711.4U CN206568190U (en) | 2017-03-03 | 2017-03-03 | A kind of depth camera caliberating device that field is captured for industrial robot |
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| CN206568190U true CN206568190U (en) | 2017-10-20 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108748146A (en) * | 2018-05-30 | 2018-11-06 | 武汉库柏特科技有限公司 | A kind of Robotic Hand-Eye Calibration method and system |
| CN108827154A (en) * | 2018-07-09 | 2018-11-16 | 深圳辰视智能科技有限公司 | A kind of robot is without teaching grasping means, device and computer readable storage medium |
| CN110021046A (en) * | 2019-03-05 | 2019-07-16 | 中国科学院计算技术研究所 | The external parameters calibration method and system of camera and laser radar combination sensor |
| CN111369593A (en) * | 2020-03-16 | 2020-07-03 | 梅卡曼德（北京）机器人科技有限公司 | Glass gluing method and device, electronic equipment and storage medium |
| US11040452B2 (en) | 2018-05-29 | 2021-06-22 | Abb Schweiz Ag | Depth sensing robotic hand-eye camera using structured light |
| CN114571454A (en) * | 2022-03-02 | 2022-06-03 | 重庆大学 | Quick calibration method for vision sensor |
-
2017
- 2017-03-03 CN CN201720201711.4U patent/CN206568190U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11040452B2 (en) | 2018-05-29 | 2021-06-22 | Abb Schweiz Ag | Depth sensing robotic hand-eye camera using structured light |
| CN108748146A (en) * | 2018-05-30 | 2018-11-06 | 武汉库柏特科技有限公司 | A kind of Robotic Hand-Eye Calibration method and system |
| CN108827154A (en) * | 2018-07-09 | 2018-11-16 | 深圳辰视智能科技有限公司 | A kind of robot is without teaching grasping means, device and computer readable storage medium |
| CN110021046A (en) * | 2019-03-05 | 2019-07-16 | 中国科学院计算技术研究所 | The external parameters calibration method and system of camera and laser radar combination sensor |
| CN110021046B (en) * | 2019-03-05 | 2021-11-19 | 中国科学院计算技术研究所 | External parameter calibration method and system for camera and laser radar combined sensor |
| CN111369593A (en) * | 2020-03-16 | 2020-07-03 | 梅卡曼德（北京）机器人科技有限公司 | Glass gluing method and device, electronic equipment and storage medium |
| CN111369593B (en) * | 2020-03-16 | 2024-01-09 | 梅卡曼德（北京）机器人科技有限公司 | Glass gluing method, device, electronic equipment and storage medium |
| CN114571454A (en) * | 2022-03-02 | 2022-06-03 | 重庆大学 | Quick calibration method for vision sensor |
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| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Ding Youshuang Inventor after: Zhang Kuangen Inventor after: Wei Haiyong Inventor after: Fu Ao Inventor after: Shao Tianlan Inventor before: Ding Youshuang Inventor before: Zhang Kuangen Inventor before: Wei Haiyong Inventor before: Fu Ao Inventor before: Shao Tianlan |
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| CB03 | Change of inventor or designer information |