CN207132849U - A kind of industry spot fast calibration device - Google Patents
A kind of industry spot fast calibration device Download PDFInfo
- Publication number
- CN207132849U CN207132849U CN201721209036.6U CN201721209036U CN207132849U CN 207132849 U CN207132849 U CN 207132849U CN 201721209036 U CN201721209036 U CN 201721209036U CN 207132849 U CN207132849 U CN 207132849U
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- industry spot
- calibration device
- convex bottom
- fast calibration
- side wall
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Abstract
The utility model discloses a kind of industry spot fast calibration device, including mainly by side wall（1）, ball seat（2）, convex bottom（6）The demarcation target and mounting seat of composition（9）, the ball seat（2）It is installed on side wall（1）On, and it is embedded with the adsorbent equipment for fixing target ball（3）, the convex bottom（6）It is embedded with original point position hole（7）With z-axis directional hole（8）, the mounting seat（9）It is upper to have for blocking convex bottom（6）Clamping part（903）And have and the original point position hole（7）With z-axis directional hole（8）Corresponding bulge-structure：Locating dowel（901）With orientation post（902）Demarcation target in the utility model can be replaced mutually with vision sensor to be measured, outer ginseng calibration process using laser tracker to demarcation target, as to the outer ginseng calibration process of vision sensor to be measured, the utility model improves the rapidity in industry spot calibration process, due to the design of convex bottom and corresponding mounting seat, calibration result accuracy can also be improved, the present apparatus is a kind of caliberating device simple in construction, easy to use, can effectively reducing industry spot calibrated error.
Description
Technical field
A kind of measurement caliberating device is the utility model is related to, is filled in particular to a kind of industry spot Fast Calibration
Put.
Background technology
Vision sensor calibration process has highly important theoretical and practical significance in machine vision research application field,
The stability of calibration process and solve the precision of result and directly affect the accuracy of whole vision measurement system, because vision is examined
The rapidity of survey method is with intelligent, and vision sensor is more and more applied among industrial each process, mesh
Before, in demarcation of the industry spot to vision sensor typically using the method in sensor outer sheath with demarcation shell, demarcating
The installation of shell, unloading process elapsed time are longer, and scaling method is complicated, and can cause sensing during shell is extractd
The skew of device position, cause calibration offset that vision guide system accuracy in follow-up operation is reduced.
The content of the invention
In order to improve rapidity and accuracy in industry spot vision sensor calibration process, the utility model provides
A kind of industry spot fast calibration device, including demarcation target part mounting seat corresponding with its, are adopted the technical scheme that：One
Kind industry spot fast calibration device, including side wall, ball seat, convex bottom and mounting seat, the ball seat are installed on side wall
On, its size matches with target ball size, and is embedded with the adsorbent equipment for fixing target ball, it is preferable that ball seat leads to side wall
Screw is crossed to be connected, and every four are one group and are centrosymmetric distribution on side wall, and multiple ball seats of equalization are set per surface side wall,
It can reduce and the situation that the ball seat in a certain plane is all blocked occur, be easy to laser tracker preferably to measure in not homonymy
Target ball sphere centre coordinate on the ball seat of wall.
As a kind of improvement of the present utility model, the convex bottom is embedded with original point position hole and z-axis directional hole,
The structure is used to determine demarcation target coordinate system, is specifically set as the home position in original point position hole to demarcate target coordinate system original
Point, it is to demarcate target coordinate system z-axis direction as the direction where origin to z-axis directional hole, in the trapezoidal raised base plane
The upper direction vertical with z-axis is y-axis direction, so as to which the normal vector of z-axis and the plane of y-axis composition is x-axis direction, thus really
Make demarcation target coordinate system.
Preferably, the original point position hole shape is circular port, and the z-axis directional hole is splicing rectangle institute in two semicircles
Into slotted eye, different configuration designs be easy to distinguish two holes effect.
Preferably, the longitudinal cross-section of the convex bottom is trapezoidal, corresponding, and the mounting seat, which has, to be used to block
The firmly clamping part of convex bottom, the clamping part, it can be dismantled by screw.Further, mounting seat also has
The bulge-structure corresponding with the original point position hole and z-axis directional hole：Locating dowel and orientation post, the mounting seat structure
It is designed to so that mounting seat more accurately fixes the top half of demarcation target, so as to avoid the utility model and vision
Sensor produces displacement error in mutual replacement process, causes demarcation inaccurate.
Preferably, the adsorbent equipment is magnet, has both sides Portable handle in the side wall, is easy to take.
The advantages of the utility model and good effect are：Processing is simple, is easily installed, and scaling method is simple, takes few, energy
Enough auxiliary vision sensors are fast and effectively demarcated, and can effectively reduce calibration process error.
Brief description of the drawings
Fig. 1 is top half of the present utility model（Demarcate target）Structural representation；
Fig. 2 is top half of the present utility model（Demarcate target）Polycrystalline substance schematic diagram；
Fig. 3 is top half of the present utility model（Demarcate target）Top view；
Fig. 4 is the utility model part the latter half（Mounting seat）Structural representation；
Fig. 5 is the structural representation that the utility model carries out calibration process with laser tracker.
In figure：1st, side wall；2nd, ball seat；3rd, magnet；4th, screw；5th, both sides Portable handle；6th, convex base；7th, origin is fixed
Position hole；8th, z-axis directional hole；9th, mounting seat；901st, locating dowel；902 orientation posts；903 clamping parts；10 target balls；11 laser track
Instrument.
Embodiment
For utility model content, feature and effect of the present utility model can be further appreciated that, it is detailed hereby to enumerate following examples
Carefully it is described as follows：
Referring to Fig. 1 to Fig. 5, the utility model includes：Side wall 1, demarcation ball seat 2, magnet 3, screw 4, both sides Portable handle
5th, convex bottom 6, original point position hole 7, z-axis directional hole 8, mounting seat 9, locating dowel 901, orientation post 902, clamping part 903,
Target ball 10, laser tracker 11.
In the present embodiment, it is mutual fallback relationship to demarcate target part and vision sensor to be measured, vision sensor bottom to be measured
Portion's design equally has convex bottom, original point position hole and z-axis orientation pore structure.
Vision sensor to be measured is replaced first with demarcation target to be fixed in mounting seat 9, locating dowel 901 and orientation post
902 are correspondingly inserted into original point position hole 7 and z-axis directional hole 8, and clamping part 903 fixes convex bottom 6.
In calibration process, original point position hole 7 and z-axis directional hole 8, demarcation target coordinate system is can determine, it is specifically, former
The home position of point location hole 7 is target co-ordinates system origin position, as the side where demarcation origin to the center of z-axis directional hole 8
To as coordinate system z-axis direction, convex bottom 6 direction vertical with z-axis in the plane be y-axis direction, and by z-axis
Normal vector with the plane of y-axis composition is x-axis direction.
Further, the utility model needs to coordinate laser tracker 11 to complete outer ginseng demarcation, specifically, the chi of ball seat 2
Very little design is consistent with target ball 10, and adsorbs target ball 10 by embedded magnet 3, and the position is measured using laser tracker 11
The target ball sphere centre coordinate at place, detailed, the utility model is provided with 16 demarcation ball seats 2 altogether, and ball seat 2 passes through screw phase with side wall 1
Even, per surface side wall 1 on be provided with 4, and this 4 demarcation ball seats 2 are centrosymmetric distribution on the central point of place side 1,
By the sphere centre coordinate position of laser tracker duplicate measurements difference ball seat opening position target ball 10, should at least measure 3 it is non-coplanar
The sphere centre coordinate of target ball is demarcated, is calculated in practical operation for convenience of subsequent mathematical and generally takes 4-6 target ball sphere centre coordinate.
Further, according to the method for building up of above-mentioned demarcation target coordinate system, when target ball 10 is fixed on ball seat 2 each time,
Coordinate position of its sphere centre coordinate in the case where demarcating target coordinate system can determine.
The opening position target measured according to coordinate position of the target ball centre of sphere in the case where demarcating target coordinate system and laser tracker 11
Corresponding relation between the coordinate position of the ball centre of sphere, demarcation target coordinate system and the world can be drawn using rigid body translation mathematical computations
Transformational relation between coordinate system, that is, the outer ginseng calibration process of demarcation target is completed, then vision sensor to be measured is replaced
It is fixed in mounting seat, that is, completes the calibration process to the outer ginseng of vision sensor.
Simply illustrate specific implementation method of the present utility model described in above-described embodiment and specification, in this area
In those of ordinary skill's possessed knowledge, the utility model can also have various changes and modifications, and these change and changed
Enter to both fall within the scope of protection of the utility model.
Claims (8)
1. a kind of industry spot fast calibration device, including side wall（1）, ball seat（2）, convex bottom（6）And mounting seat
（9）, it is characterised in that the ball seat（2）It is installed on side wall（1）On, and it is embedded with the adsorbent equipment for fixing target ball（3）,
The convex bottom（6）It is embedded with original point position hole（7）With z-axis directional hole（8）, the mounting seat（9）Above have and be used for
Block convex bottom（6）Clamping part（903）And have and the original point position hole（7）With z-axis directional hole（8）It is corresponding
Bulge-structure：Locating dowel（901）With orientation post（902）.
A kind of 2. industry spot fast calibration device according to claim 1, it is characterised in that：The demarcation ball seat（2）
Every four are one group and on side wall（1）Be centrosymmetric distribution.
A kind of 3. industry spot fast calibration device according to claim 1, it is characterised in that：The adsorbent equipment（3）
For magnet.
A kind of 4. industry spot fast calibration device according to claim 1, it is characterised in that：The convex bottom
（6）Section it is trapezoidal.
A kind of 5. industry spot fast calibration device according to claim 1, it is characterised in that：The original point position hole
（7）It is shaped as circular port.
A kind of 6. industry spot fast calibration device according to claim 1, it is characterised in that：The z-axis directional hole（8）
To splice slotted eye formed by rectangle in two semicircles.
A kind of 7. industry spot fast calibration device according to claim 1, it is characterised in that：The clamping part（903）
It can be dismantled by screw.
A kind of 8. industry spot fast calibration device according to claim 1, it is characterised in that：The side wall（1）Upper tool
There is both sides Portable handle（5）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721209036.6U CN207132849U (en) | 2017-09-20 | 2017-09-20 | A kind of industry spot fast calibration device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721209036.6U CN207132849U (en) | 2017-09-20 | 2017-09-20 | A kind of industry spot fast calibration device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207132849U true CN207132849U (en) | 2018-03-23 |
Family
ID=61639004
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721209036.6U Active CN207132849U (en) | 2017-09-20 | 2017-09-20 | A kind of industry spot fast calibration device |
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| Country | Link |
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| CN (1) | CN207132849U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108592953A (en) * | 2018-06-29 | 2018-09-28 | 易思维（杭州）科技有限公司 | Stereo calibration target and the method for being applied to positioning measured object in vision measurement |
| CN109470273A (en) * | 2018-12-14 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | Strapdown inertial navigation system inertance element dismounts non-calibrating method |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN110702004A (en) * | 2019-09-23 | 2020-01-17 | 深圳市智信精密仪器有限公司 | Calibration block design and inspection method for high-precision calibration splicing of multiple line lasers |
| CN111504202A (en) * | 2020-02-29 | 2020-08-07 | 深圳市智信精密仪器有限公司 | Method for high-precision calibration splicing of multiple line lasers |
| CN116045813A (en) * | 2023-04-03 | 2023-05-02 | 苏州苏映视图像软件科技有限公司 | Rotating shaft calibration method, device, equipment and medium |
-
2017
- 2017-09-20 CN CN201721209036.6U patent/CN207132849U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108592953A (en) * | 2018-06-29 | 2018-09-28 | 易思维（杭州）科技有限公司 | Stereo calibration target and the method for being applied to positioning measured object in vision measurement |
| CN108592953B (en) * | 2018-06-29 | 2024-05-24 | 易思维(杭州)科技股份有限公司 | Three-dimensional calibration target and method for applying three-dimensional calibration target to positioning measured object in vision measurement |
| CN109540030A (en) * | 2018-11-27 | 2019-03-29 | 中国船舶重工集团公司第十二研究所 | A kind of handheld scanning device self poisoning accuracy checking method |
| CN109470273A (en) * | 2018-12-14 | 2019-03-15 | 中国船舶重工集团公司第七0七研究所 | Strapdown inertial navigation system inertance element dismounts non-calibrating method |
| CN110702004A (en) * | 2019-09-23 | 2020-01-17 | 深圳市智信精密仪器有限公司 | Calibration block design and inspection method for high-precision calibration splicing of multiple line lasers |
| CN111504202A (en) * | 2020-02-29 | 2020-08-07 | 深圳市智信精密仪器有限公司 | Method for high-precision calibration splicing of multiple line lasers |
| CN116045813A (en) * | 2023-04-03 | 2023-05-02 | 苏州苏映视图像软件科技有限公司 | Rotating shaft calibration method, device, equipment and medium |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Guo Lei Inventor after: Zou Jian Inventor before: Yin Shibin Inventor before: Guo Lei Inventor before: Zou Jian |
|
| CB03 | Change of inventor or designer information |