CN210603185U - Robot hand-eye calibration precision identification system for skill identification training - Google Patents
Robot hand-eye calibration precision identification system for skill identification training Download PDFInfo
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- CN210603185U CN210603185U CN201921279124.2U CN201921279124U CN210603185U CN 210603185 U CN210603185 U CN 210603185U CN 201921279124 U CN201921279124 U CN 201921279124U CN 210603185 U CN210603185 U CN 210603185U
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Abstract
The utility model provides a robot hand eye calibration accuracy appraisal system for real standard of skill appraisal, it is used for teachers and students to carry out the check-up to hand eye calibration result at real standard platform control robot vision module, makes things convenient for teachers and students to appraise what hand eye was markd in training process. The up end of automatically controlled box is provided with real standard mesa, real standard mesa is spliced by the aluminium alloy base plate side by side and is constituteed, the central point of real standard mesa puts and has set firmly the robot, real standard mesa is equipped with a plurality of square locating plates for the periphery of robot admittedly, the inner groovy rigid coupling equipment module of square locating plate, the equipment module is including the vision module, the vision module is including detecting with the bottom plate, vertical to the camera lens support frame of arranging, the light source controller, it has a plurality of monitoring points to detect with bottom plate upper surface, the camera lens support frame has been arranged on the detecting with the bottom plate, the light source controller, the top of camera lens support frame is provided with the camera, the camera lens of camera.
Description
Technical Field
The utility model relates to a real technical field who instructs of robot specifically is a robot hand eye calibration accuracy appraisal system that is used for real standard of skill appraisal.
Background
The field of machine vision has been widely applied to various fields of industrial manufacturing and production, and especially, with the development of artificial intelligence, industrial intelligence plays an increasingly important role. Machine vision is given to the eyes of the robot, and the most important link is hand-eye calibration, which is a way of solving a conversion matrix between a robot coordinate system and a camera coordinate system.
However, the existing robot training field has no technology which can be directly used for calibrating precision by hands and eyes, so that training personnel can not meet the requirement of industrial production, and can be trained only by enterprises in the follow-up process.
Disclosure of Invention
To the above problem, the utility model provides a robot hand eye calibration accuracy appraisal system for real standard of skill appraisal, it is used for teachers and students to carry out the check-up to hand eye calibration result at real standard platform operation robot vision module, makes things convenient for teachers and students to appraise what hand eye was markd in the training process.
The utility model provides a robot hand eye calibration accuracy appraisal system for real standard of skill appraisal which characterized in that: the device comprises an electric control box body, wherein a training table board is arranged on the upper end face of the electric control box body and is formed by splicing aluminum section bar base plates side by side, a robot is fixedly arranged at the central position of the training table board, a plurality of square positioning plates are fixedly arranged on the periphery of the training table board relative to the robot, an inner groove of each square positioning plate is fixedly connected with an assembly module, each assembly module comprises a vision module, each vision module comprises a bottom plate for detection, a lens supporting frame and a light source controller which are vertically arranged, a plurality of monitoring points are arranged on the upper surface of the bottom plate for detection, the lens supporting frame and the light source controller are arranged on the bottom plate for detection, a camera is arranged at the top of the lens supporting frame, the lens of the camera faces downwards, light sources are annularly distributed on the periphery of the lens, and the light sources are connected with the light source controller, a calibration tool is arranged at the tail end output of the robot; the outer wall all around of automatically controlled box is provided with corresponding door plant, electrical equipment arrange in the inside of automatically controlled box.
It is further characterized in that:
the quick-change module is fixedly connected with a square positioning plate at a corresponding position through a T-shaped nut, the vision module is arranged on the quick-change module, a trainer obtains a conversion matrix of a camera coordinate system and a robot base coordinate system through hand-eye calibration, then a camera extracts a monitoring point for checking hand-eye calibration precision to obtain a midpoint of the monitoring point, the conversion matrix obtained before and parameters of camera internal parameters are input to obtain actual coordinates of the monitoring point, the actual coordinates are transmitted to the robot through serial port communication, and the hand-eye calibration precision is identified by detecting whether the robot can accurately reach the monitoring point;
the camera is slidably mounted on the cross beam, and the cross beam is fixedly mounted at the top of the lens support frame, so that the position of the camera can be adjusted;
the camera is fixedly arranged at the piston end of the vertical cylinder, and the base of the vertical cylinder is slidably arranged on the cross beam, so that the vertical position of the camera can be adjusted;
the upper surfaces of the two ends of the detection bottom plate in the length direction are respectively provided with a handle, so that the visual module is convenient to carry;
the lateral part of the square positioning plate positioned on one side of the practical training platform surface is convex, the lateral part of the square positioning plate is fixedly connected with the practical training platform surface of another practical training platform through a T-shaped nut, and the two practical training platforms can be combined to form a double-station practical training platform;
the light source is specifically an annular light source which is annularly distributed on the outer annular surface of the lens, so that the light is ensured to be sufficiently, uniformly and reliably;
the robot is specifically a six-axis robot, and the base of the robot is installed on the quick-change module.
After the technical scheme is adopted, the quick-change module is fixedly connected with the square positioning plate at the corresponding position through the T-shaped nut, the vision module is arranged on the quick-change module, a trainer obtains a conversion matrix of a camera coordinate system and a robot base coordinate system through hand-eye calibration, then a monitoring point for detecting the hand-eye calibration precision is extracted through the camera to obtain a midpoint of the monitoring point, the conversion matrix obtained before and parameters of parameters in the camera are input to obtain actual coordinates of the monitoring point, the actual coordinates of the monitoring point are transmitted to the robot through serial port communication, and the hand-eye calibration precision is identified by detecting whether the robot can accurately reach the monitoring point; the robot vision module is used for the teachers and students to check the hand-eye calibration result in the training platform, and the teachers and students can conveniently identify the hand-eye calibration in the training process.
Drawings
Fig. 1 is a schematic perspective view of the utility model;
fig. 2 is a schematic perspective view of the vision module of the present invention;
the names corresponding to the sequence numbers in the figure are as follows:
the device comprises an electric control box body 1, a practical training table board 2, an aluminum profile base plate 3, a robot 4, a calibration tool 41, a base 42, a square positioning plate 5, a vision module 6, a bottom plate 7 for detection, a lens supporting frame 8, a light source controller 9, a monitoring point 10, a camera 11, a lens 12, a light source 13, a door plate 14, a quick-change module 15, a cross beam 16, a vertical cylinder 17 and a handle 18.
Detailed Description
A robot hand-eye calibration precision identification system for skill identification training is disclosed in the following drawings, fig. 1-2: the device comprises an electric control box body 1, a training table board 2 is arranged on the upper end face of the electric control box body 1, the training table board 2 is formed by splicing aluminum section bar base plates 3 side by side, a robot 4 is fixedly arranged at the central position of the training table board 2, a plurality of square positioning plates 5 are fixedly arranged on the periphery of the training table board 2 relative to the robot 4, an assembly module is fixedly connected to inner grooves of the square positioning plates 5 and comprises a vision module 6, the vision module 6 comprises a bottom plate 7 for detection, a lens supporting frame 8 and a light source controller 9 which are vertically arranged, a plurality of monitoring points 10 are arranged on the upper surface of the bottom plate 7 for detection, the lens supporting frame 8 and the light source controller 9 are arranged on the bottom plate 7 for detection, a camera 11 is arranged on the top of the lens supporting frame 8, a lens 12 of the camera 11 is arranged downwards, a light source 13 is annularly arranged on the periphery of the, the tail end output of the robot 4 is provided with a calibration tool 41; the outer wall all around of automatically controlled box 1 is provided with corresponding door plant 14, and electrical equipment arranges in the inside of automatically controlled box 1.
The quick-change module 15 is fixedly connected with the square positioning plate 5 at the corresponding position through a T-shaped nut, and the quick-change module 15 is used for fixedly connecting the bottom structure of the corresponding assembly module;
a vision module 6 is arranged on the quick-change module corresponding to one side of the robot 4, a trainer obtains a conversion matrix of a camera coordinate system and a robot base coordinate system through hand-eye calibration, then a camera 11 extracts a monitoring point 10 for checking the hand-eye calibration precision to obtain a midpoint of the monitoring point 10, the conversion matrix obtained before and parameters of camera internal parameters are input to obtain an actual coordinate of the monitoring point 10, the actual coordinate is transmitted to the robot 4 through serial port communication, and the hand-eye calibration precision is identified by detecting whether the robot 4 can accurately reach the monitoring point 10;
the camera 11 is slidably mounted on the beam 16, and the beam 16 is fixedly mounted on the top of the lens support frame 8, so that the position of the camera 11 can be adjusted.
In the specific implementation: the camera 11 is fixedly arranged at the piston end of the vertical cylinder 17, and the base of the vertical cylinder 17 is slidably arranged on the beam 16, so that the vertical position of the camera 11 can be adjusted; handles 18 are respectively arranged on the upper surfaces of the two ends of the detection bottom plate 7 in the length direction, and the visual module 6 is convenient to carry; the part, located on one side of the practical training platform surface 2, of the square positioning plate is laterally convex, the lateral part of the square positioning plate 5 is fixedly connected with the practical training platform surface of another practical training platform through a T-shaped nut, and the two practical training platforms can be combined to form a double-station practical training platform; the robot 4 is specifically a six-axis robot, the base 42 of the robot 4 is installed on the quick-change module 15, the light source 13 is specifically an annular light source, and the light source 13 is annularly distributed on the outer annular surface of the lens 12, so that the light is ensured to be sufficiently, uniformly and reliably.
The working principle is as follows: the quick-change module is fixedly connected with a square positioning plate at a corresponding position through a T-shaped nut, a vision module is arranged on the quick-change module, a trainer obtains a conversion matrix of a camera coordinate system and a robot base coordinate system through hand-eye calibration, then a camera extracts a monitoring point for checking the hand-eye calibration precision to obtain a midpoint of the monitoring point, the conversion matrix obtained before and parameters of internal parameters of the camera are input to obtain an actual coordinate of the monitoring point, the actual coordinate of the monitoring point is transmitted to the robot through serial port communication, and the hand-eye calibration precision is identified by detecting whether the robot can accurately reach the monitoring point; the robot vision module is used for the teachers and students to check the hand-eye calibration result in the training platform, and the teachers and students can conveniently identify the hand-eye calibration in the training process.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a robot hand eye calibration accuracy appraisal system for real standard of skill appraisal which characterized in that: the device comprises an electric control box body, wherein a training table board is arranged on the upper end face of the electric control box body and is formed by splicing aluminum section bar base plates side by side, a robot is fixedly arranged at the central position of the training table board, a plurality of square positioning plates are fixedly arranged on the periphery of the training table board relative to the robot, an inner groove of each square positioning plate is fixedly connected with an assembly module, each assembly module comprises a vision module, each vision module comprises a bottom plate for detection, a lens supporting frame and a light source controller which are vertically arranged, a plurality of monitoring points are arranged on the upper surface of the bottom plate for detection, the lens supporting frame and the light source controller are arranged on the bottom plate for detection, a camera is arranged at the top of the lens supporting frame, the lens of the camera faces downwards, light sources are annularly distributed on the periphery of the lens, and the light sources are connected with the light source controller, a calibration tool is arranged at the tail end output of the robot; the outer wall all around of automatically controlled box is provided with corresponding door plant, electrical equipment arrange in the inside of automatically controlled box.
2. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 1, wherein: the quick-change module is fixedly connected with a square positioning plate at a corresponding position through a T-shaped nut, the vision module is arranged on the quick-change module, a trainer obtains a conversion matrix of a camera coordinate system and a robot base coordinate system through hand-eye calibration, then a camera extracts a monitoring point for checking the hand-eye calibration precision to obtain a midpoint of the monitoring point, the conversion matrix obtained before and parameters of camera internal parameters are input to obtain actual coordinates of the monitoring point, the actual coordinates are transmitted to the robot through serial port communication, and the hand-eye calibration precision is identified by detecting whether the robot can accurately reach the monitoring point.
3. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 1, wherein: the camera is slidably mounted on the cross beam, and the cross beam is fixedly mounted at the top of the lens supporting frame.
4. A robot hand-eye calibration accuracy identification system for skill identification training according to claim 3, characterized in that: the camera is fixedly installed at the piston end of the vertical cylinder, and the base of the vertical cylinder is installed on the cross beam in a sliding mode.
5. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 1, wherein: handles are respectively arranged on the upper surfaces of the two ends of the detection bottom plate in the length direction.
6. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 1, wherein: the lateral parts of the square positioning plates on one side of the practical training table top are convex, and the lateral parts of the square positioning plates are fixedly connected with the practical training table top of another practical training table through T-shaped nuts.
7. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 1, wherein: the light source is specifically an annular light source, and the light source is annularly distributed on the outer annular surface of the lens.
8. The system for identifying the calibration accuracy of the hands and the eyes of the robot for the training of the skill identification as claimed in claim 2, wherein: the robot is specifically a six-axis robot, and the base of the robot is installed on the quick-change module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921279124.2U CN210603185U (en) | 2019-08-08 | 2019-08-08 | Robot hand-eye calibration precision identification system for skill identification training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921279124.2U CN210603185U (en) | 2019-08-08 | 2019-08-08 | Robot hand-eye calibration precision identification system for skill identification training |
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| CN210603185U true CN210603185U (en) | 2020-05-22 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345869A (en) * | 2019-08-08 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of Robotic Hand-Eye Calibration accuracy evaluation system for Technique Authentication real training |
-
2019
- 2019-08-08 CN CN201921279124.2U patent/CN210603185U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110345869A (en) * | 2019-08-08 | 2019-10-18 | 江苏汇博机器人技术股份有限公司 | A kind of Robotic Hand-Eye Calibration accuracy evaluation system for Technique Authentication real training |
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