CN211742163U - A degree of depth camera calibration device for industrial robot snatchs field - Google Patents
A degree of depth camera calibration device for industrial robot snatchs field Download PDFInfo
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- CN211742163U CN211742163U CN202020385358.1U CN202020385358U CN211742163U CN 211742163 U CN211742163 U CN 211742163U CN 202020385358 U CN202020385358 U CN 202020385358U CN 211742163 U CN211742163 U CN 211742163U
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Abstract
The utility model discloses a degree of depth camera calibration device for industrial robot snatchs field, including the robot device, degree of depth camera equipment and degree of depth calibration module. The depth calibration module can be easily fixed on a mechanical device by utilizing fixing nuts at two ends, full-reflection baffles with different distance distributions and different heights are arranged on the depth calibration module, and the distance between the reflection baffles can be adjusted at will. The depth camera device includes a laser generator, a capture camera, and a height adjustment lever. The laser generator can produce stable laser, and when the laser is projected to the full-reflection partition plate, different time differences can be recorded by the depth camera.
Description
Technical Field
The utility model relates to a meat spouts medicine washing degree of depth and marks technical field, specifically is a degree of depth camera calibration device that is used for industrial robot to snatch the field.
Background
Cameras are increasingly used in everyday life and also in the production of industrial machines. However, most of the common cameras can only present the effect of two-dimensional planes, and the depth coordinate capture of the three-dimensional space object is still less. Depth coordinate capture is important for identification, selection, grasping and transportation of industrial robots.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a degree of depth camera calibration device for industrial robot snatchs field to solve the problem that proposes in the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a depth camera calibration device for the field of industrial robot grabbing mainly comprises a robot device, depth camera equipment and a depth calibration module. The depth camera device mainly plays a role in emitting laser light and detecting the laser light.
Preferably, the laser generator on the depth camera device can emit a stable laser source, and the laser can return immediately without attenuation when encountering the fully reflective partition and be detected by the depth camera.
Preferably, the heights of the full-reflection partition plates on the depth calibration module are different, and the height of the full-reflection partition plates is higher when the full-reflection partition plates reach the rear part, so that the laser is prevented from being shielded by the partition plates in the front.
Preferably, the distance between each partition plate on the depth calibration module can be adjusted by referring to the lower depth gauge.
Preferably, the height adjuster below the depth camera device can adjust the heights of the laser generator and the depth camera, so that the laser generator and the depth camera can be calibrated at different heights, and the diversity of data is ensured.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the depth camera calibration device for the industrial robot grabbing field adopts a method of laser emission to calibrate depth, laser emission is stable, and depth calibration accuracy is high. Meanwhile, the height of the depth camera can be adjusted at will, so that depth calibration can be performed from different heights, and the data richness is higher.
2. This a degree of depth camera calibration device for industrial robot snatchs field is provided with the depth gauge on calibration device, can adjust the distance between the reflection of light baffle more conveniently.
Drawings
FIG. 1 is a schematic structural view of the present invention;
in the figure: the device comprises a laser generator 1, a depth camera 2, a reference platform 3, a height adjuster 4, a robot device 5, a depth gauge 6, a fixing nut 7 and a full-reflection clapboard 8.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the technical scheme in the utility model, all other embodiments that ordinary skilled person in the art obtained under the prerequisite of not making the creative work all belong to the scope of the utility model protection.
Referring to fig. 1, the present invention provides a technical solution: a depth camera calibration device for the field of industrial robot gripping comprises a robot device 5, a depth camera device and a depth calibration module. The depth camera equipment consists of a depth camera 2, a laser generator 1 and a height adjuster 4; and the depth calibration module mainly comprises a full-reflection clapboard 8 and a depth gauge 6.
Further, the laser generator 1 can emit a stable laser beam, and the depth is determined by the time when the laser beam reaches the reflective partition 8. While the laser beam reaching the reflective spacer 8 can easily be captured by the depth camera.
Further, the height adjuster 4 can adjust the height of the reference platform 3, so as to collect depth data of different height references and optimize depth selection.
Further, the fixation nut 7 can be easily removed, thereby quickly adjusting the position of the depth calibration module on the robotic device 5.
The working principle is as follows: the laser generator 1 and the depth camera 2 are assembled and horizontally placed on the reference platform 3. The height of the height adjuster 4 connected to the reference platform 3 is adjusted. The depth calibration module is fixed on a specific position on the surface of the robot device 5 by a fixing nut 7, and the distance between the full-reflection clapboards 8 is adjusted according to the scale on the depth scale 6. And (3) opening the laser generator 1 and the depth camera 2, and aiming at different full-reflecting partition plates 8 to calibrate the depth. After the calibration is completed, the height is adjusted by the height adjuster 4, and then the above operation is repeated.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments 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. The utility model provides a degree of depth camera calibration device for industrial robot snatchs field which characterized in that: including robot device (5), degree of depth camera equipment and degree of depth calibration module, the degree of depth calibration module can be fixed on the surface of robot device (5) through fixation nut (7), degree of depth camera equipment comprises degree of depth camera (2), laser generator (1) and altitude controller (4), and wherein, laser generator (1) is located the upper end of degree of depth camera (2), and degree of depth camera (2) are placed on benchmark platform (3), and benchmark platform (3) are connected with altitude controller (4).
2. The depth camera calibration device for the industrial robot gripping field as claimed in claim 1, characterized in that: the depth calibration module comprises full-reflecting partition plates (8) with different heights and a depth gauge (6), wherein the full-reflecting partition plates (8) are erected on the depth gauge (6), and standard scale stripes are engraved on the depth gauge (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020385358.1U CN211742163U (en) | 2020-03-24 | 2020-03-24 | A degree of depth camera calibration device for industrial robot snatchs field |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020385358.1U CN211742163U (en) | 2020-03-24 | 2020-03-24 | A degree of depth camera calibration device for industrial robot snatchs field |
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| Publication Number | Publication Date |
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| CN211742163U true CN211742163U (en) | 2020-10-23 |
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| CN202020385358.1U Active CN211742163U (en) | 2020-03-24 | 2020-03-24 | A degree of depth camera calibration device for industrial robot snatchs field |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113327293A (en) * | 2021-06-18 | 2021-08-31 | 东莞理工学院 | A degree of depth camera calibration device for industrial robot snatchs field |
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2020
- 2020-03-24 CN CN202020385358.1U patent/CN211742163U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113327293A (en) * | 2021-06-18 | 2021-08-31 | 东莞理工学院 | A degree of depth camera calibration device for industrial robot snatchs field |
| CN113327293B (en) * | 2021-06-18 | 2022-07-12 | 东莞理工学院 | A degree of depth camera calibration device for industrial robot snatchs field |
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