CN214308603U

CN214308603U - Calibration device for acquiring six degrees of freedom of tool output end

Info

Publication number: CN214308603U
Application number: CN202120534961.6U
Authority: CN
Inventors: 黄科; 游四清; 游晓龙; 白灵; 黄菊芳; 孔俊; 陈平平
Original assignee: Feishuo Yiwei Chongqing Technology Co ltd
Current assignee: Feishuo Yiwei Chongqing Technology Co ltd
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2021-09-28
Anticipated expiration: 2031-03-15

Abstract

The utility model provides a calibration device for be used for acquireing six degrees of freedom of instrument output, including calibration head and calibration portion, calibration head is used for cooperating the instrument output, radially is provided with contact surface calibrating overhead, is provided with reflection of light mark point and trigger switch in calibration portion, and after contact surface directly or indirectly touched trigger switch, the pilot lamp that links to each other with trigger switch was bright. The utility model provides a calibration device can realize quick calibration, can help the user to finish the calibration of the tool output end within a few seconds; the method can acquire the six-degree-of-freedom information of the tool output end, and simultaneously acquire the center coordinate and the direction vector of the tool output end, can solve the problem that other calibration methods/calibration tools cannot acquire the center of the tool output end quickly, can reduce the complexity of the calibration of the tool output end, and reduces the learning cost of a user.

Description

Calibration device for acquiring six degrees of freedom of tool output end

Technical Field

The utility model belongs to the technical field of the calibration instrument, concretely relates to a calibration device for obtaining instrument output six degrees of freedom (central point puts and direction vector).

Background

In the vision tracking system, a camera acquires, in real time, the spatial coordinates of marker points mounted on a tool, through which the spatial pose of the tool can be acquired. In the practical application process, the spatial pose of the tool output end needs to be tracked to achieve the purpose of tracking or controlling the working process in real time, so that the spatial coordinate relationship between the marking point device and the tool output end needs to be calibrated and calculated.

In the conventional calibration method, a light pen with a measuring head is used, the measuring head touches the output end of a tool, the spatial coordinate of the measuring head of the light pen is known in a camera coordinate system, when the measuring head of the light pen touches the output end of the tool, the spatial coordinate of a touched point can be obtained, and then the spatial pose of the output end of the tool is calculated by measuring multiple points on the output end of the tool through the method. The spatial coordinate relationship between the tool output end and the marking point device can be obtained because the spatial coordinate of the marking point device fixed on the tool is known, and the spatial pose of the tool output end can be tracked in real time in the using process by utilizing the coordinate relationship.

However, the following problems exist with the existing conventional calibration tools and methods: 1. the calibration process is complex, errors caused by human factors cannot be expected, the central position of the output end cannot be accurately obtained, and if the output end of the tool is polygonal or circular, when the optical pen is used for calibration, if only one point is touched, the problem of inaccurate positioning of the spatial attitude exists in the use process; 2. the direction vector of the output central point of the tool cannot be accurately obtained, if the central point and the direction vector are measured, the number of touch points needs to be increased, namely, a plurality of points need to be collected on the inner wall, the outer wall and the end face of the output end so as to fit the center and the direction vector of the output end; 3. the calibration of the tool output end needs to be completed on site, and the professional knowledge and skill of the light pen measurement cannot be easily mastered by site operators; 4. the accuracy of the tool output cannot be quickly verified on site.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a calibration device for obtaining six degrees of freedom of instrument output for solve at least one technical problem who exists among the above-mentioned background art.

In order to achieve the above purpose, the present invention adopts the following technical solution.

A calibration device for obtaining six degrees of freedom of a tool output end is characterized in that: the marking head is used for being matched with an output end of a tool, a contact plane is radially arranged on the marking head, a light reflection marking point and a trigger switch are arranged on the marking part, and when the contact plane directly or indirectly touches the trigger switch, an indicator light connected with the trigger switch is turned on.

For improving the calibration precision, be provided with spacing hole on the portion of maring, spacing hole and calibration head precision fit, and the calibration head can only be along spacing hole axial displacement.

In order to further improve the calibration precision, the calibration head consists of a column body and an annular plate fixedly arranged on the column body, the lower end face of the annular plate is used as a contact plane, the upper end face of the annular plate is used for being attached to the output end face of the tool, and the column body is precisely matched with the limiting hole.

As one of the preferable schemes of the utility model, the calibration part comprises a base plate and a control circuit board arranged on the base plate, the reflective mark point and the limit hole are arranged on the base plate, and the trigger switch is arranged on the control circuit board; a conduction column is axially arranged in the limiting hole, and the conduction column can axially move and is in contact with the trigger switch after being axially pressed.

As a second preferred scheme of the present invention, the calibration portion includes a substrate, and a control circuit board, a through hole, and a connecting member, which are disposed on the substrate, the reflective mark point is disposed on the substrate, the limiting hole is disposed on the connecting member, the through hole and the limiting hole are coaxially disposed, and the trigger switch is disposed on the control circuit board; and a conduction column is axially arranged on the connecting piece and around the limiting hole, and can axially move and directly or indirectly contact the trigger switch after being axially pressed.

The utility model discloses in: the indirect contact means that the conduction column is contacted with the trigger switch by means of a conductor; the calibration head is contacted with the conduction column, and after the conduction column is directly or indirectly contacted with the trigger switch, the indicating lamp circuit is conducted.

For convenient continuous calibration operation many times, be provided with elastic contact between control circuit board and the conduction post, can drive elastic contact axial displacement after the axial pressurized of conduction post, and elastic contact can contact with trigger switch.

In order to improve the calibration efficiency, at least three trigger switches are arranged; the control circuit board of the calibration part is also provided with a control module and a communication module, the control module is connected with the indicating lamp circuit, and the processing unit of the control module realizes the following steps when executing the program:

when the contact plane does not touch the trigger switch, the indicator light is red;

when the contact plane touches all the trigger switches, the indicator lights in green, at the moment, the communication module sends a message to the host computer to store the calibration data, the message is returned to the communication module after the calibration data is stored successfully, and the indicator lights change into blue and flash after the communication module receives the returned message.

Furthermore, the calibration device further comprises a shell plate, the shell plate is connected with the base plate in a matching mode, a clamping groove used for containing the control circuit board is formed in the shell plate, the control circuit board is limited in the clamping groove and located between the shell plate and the base plate, and the light reflection mark points are arranged on the surface of the base plate far away from the shell plate.

The utility model provides a calibration device has following advantage:

(1) the method can realize quick calibration and help a user to finish calibrating the output end of the tool within a few seconds;

(2) the calibration head is simple to operate, accords with field operation habits, and can be inserted into the calibration hole when in use, so that the complicated procedure of collecting a plurality of points for calibration is omitted;

(3) the positioning is accurate, the precision is high, the user guides the pose of the adjusting tool to a proper position according to the indicator light in the calibration process, the calibration data can be automatically stored, the error caused by manual operation is reduced, and the precision can reach 0.2 mm;

(4) the precision verification of the output end of the tool can be quickly finished, the calibration device can be used for quickly verifying the precision calibrated by the output end of the tool before the tool is used every time, and the use method is the same as the calibration process, so that the reliability of a calibration system is favorably ensured;

(5) and adopt the utility model discloses a calibration device can acquire instrument output six degrees of freedom information, acquires the central coordinate and the direction vector of instrument output simultaneously, can solve other calibration method/calibration instrument and can not acquire the problem at instrument output center fast, can reduce the complexity that instrument output was markd, reduces user's study cost.

Drawings

FIG. 1 is a structural view (schematic view) of a calibration apparatus in embodiment 1;

FIG. 2 is an exploded view (schematic view) of the calibration apparatus in example 1;

FIG. 3 is a structural view (schematic view) of a calibration head of the calibration apparatus in embodiment 1;

fig. 4 is a state diagram of the use of the calibration device in embodiment 1.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the following description of the embodiments is only for the purpose of helping understanding the principle and the core idea of the present invention, and is not intended to limit the scope of the present invention. It should be noted that modifications to the present invention may occur to those skilled in the art without departing from the principles of the present invention and are intended to fall within the scope of the appended claims.

Example 1

Referring to fig. 1 to 3, a calibration device for obtaining six degrees of freedom of a tool output end includes a calibration head 20 and a calibration portion, the calibration head 20 is used for matching with the tool output end, a contact plane 21 is radially arranged on the calibration head 20, a reflective mark point 9 and a trigger switch 10 are arranged on the calibration portion, and after the contact plane 21 directly or indirectly touches the trigger switch 10, an indicator light 11 connected with the trigger switch 10 is turned on. The calibration part is provided with a limiting hole 12, the limiting hole 12 is in precise fit with a calibration head 20, and the calibration head 20 can only move along the axial direction of the limiting hole 12.

In this embodiment, as shown in fig. 3, the calibration head 20 is composed of a column 22 and an annular plate 23 fixedly disposed on the column 22, a lower end surface of the annular plate 23 is used as a contact plane 21, an upper end surface 24 of the annular plate is used for abutting against an output end surface of the tool, the lower end surface of the annular plate 23 and the upper end surface 24 of the annular plate 23 are respectively referred to as two end surfaces of the annular plate 23, and the column 22 is precisely matched with the limiting hole 12.

In this embodiment, as shown in fig. 2, the calibration portion includes a substrate 5, and a control circuit board 3, a through hole 8, and a connecting member 7 that are disposed on the substrate 5, a reflective mark point 9 is disposed on the substrate 5, a limiting hole 12 is disposed on the connecting member 7, the through hole 8 and the limiting hole 12 are coaxially disposed, the through hole 8 is used for fitting the connecting member 7, and a trigger switch 10 is disposed on the control circuit board 3; three conduction columns 6 with the same specification are axially arranged on the connecting piece 7 and around the limiting hole 12, and the conduction columns 6 can axially move and directly or indirectly contact the trigger switch 10 after being axially pressed. Be provided with elastic contact 4 between control circuit board 3 and the conduction post 6, can drive elastic contact 4 axial displacement after the axial pressurized of conduction post 6, and elastic contact 4 can contact with trigger switch 10.

In this embodiment, the calibration device further includes a shell 2, the shell 2 is connected with the substrate 5 in a matching manner, a slot for accommodating the control circuit board 3 is formed in the shell 2, the control circuit board is limited in the slot and is located between the shell 2 and the substrate 5, and the reflective mark point 9 is arranged on the surface of the substrate 5 far away from the shell 2. The shell plate 2 is also provided with a battery mounting area and a battery protective cover 1, and the battery mounted in the battery mounting area provides power for the calibration device.

In this embodiment, three trigger switches 10 are provided, and each trigger switch 10 corresponds to one conducting column 6; the control circuit board 3 of the calibration part is also provided with a control module and a communication module, the control module is connected with the indicating lamp circuit, and the processing unit of the control module realizes the following steps when executing the program:

when the contact plane 21 does not touch the trigger switch 10, the indicator light 11 is red;

when the contact plane 21 touches all the trigger switches 10, the indicator light 11 is turned on green, at this time, a message is sent to the host computer through the communication module to enable the host computer to store calibration data, the message is returned to the communication module after the calibration data is successfully stored, and the indicator light 11 is turned into blue and flickers after the communication module receives the returned message.

The assembly process of the calibration device in this embodiment: firstly, attaching a light-reflecting mark on a corresponding position of a substrate 5, then installing a connecting piece 7, a conduction column 6 and an elastic contact piece 4 on the substrate 5, then installing a control circuit board 3 in a clamping groove of a shell plate 2, installing a battery in a battery installation area, fastening a battery protective cover 1, then combining the shell plate 2 and the substrate 5, and after the combination is finished, positioning a light-emitting area of an indicator light 11 at a position shown by a number 13 in the figure 1.

Specifically, the substrate 5 and the connecting member 7 are made of materials meeting rigidity requirements. The elastic contact piece 4 is composed of a plate body and a spring connected to the plate body, and the other end of the spring is connected to the control circuit board 3. When the calibrating device is used, the calibrating head 20 is driven under the action of external force to further press the conduction column 6, so that when the conduction column 6 presses the elastic contact piece 4, the spring is compressed, and the plate body moves along with the spring; when the external force is removed, the spring resets to drive the conduction column 6 to reset.

The use method of the calibration device in the embodiment is as follows:

step 1, installing a calibration head 20: during installation, one end of the calibration head 20 matched with the tool 19 is inserted into the tool output end to ensure that the tool output end is contacted with the back of the contact plane of the calibration head (namely, the upper end surface 24 of the annular plate 23 is contacted with the tool output end surface);

step 2, starting calibration: as shown in fig. 4, the front end of the column of the calibration head 20 is inserted into the calibration hole (i.e. the limiting hole 12) of the calibration part, at this time, the contact plane of the calibration head compresses the elastic contact piece 4 through the conduction column 6, and only after the conduction column is completely pressed down, the trigger switch 10 on the control circuit board 3 can be triggered, at this time, if all three indicator lights 11 of the calibration part are turned into green, the posture of the tool is adjusted to a proper position, i.e. the annular plate contact surface 21 is fully contacted with the upper end surface of the connecting piece 7; if the indicator lamps 11 of the calibration part display two green colors and one red color, the posture of the tool is not adjusted to a proper position, and the posture of the tool needs to be continuously adjusted until the three indicator lamps are changed into green colors;

step 3, waiting for the calibration data to be stored: when the posture is adjusted to a proper position, the three indicator lights 11 will display green, and then the user is required to keep the posture to wait for the host to store calibration data (about 1-2 seconds);

and 4, completing calibration: the host will return a message after successful storage of the calibration data, at which time the status of the indicator light 11 will change to blue flashing.

The utility model discloses well calibration device's demarcation principle: establishing a rigid body coordinate system Q by using a reflection point (reflection mark point 9) on a calibration plate, and measuring by using a vision system to obtain the relative relation between the circle center O of the upper end surface of a calibration hole (namely the limiting hole 12) and the direction vector N of the end surface and the rigid body coordinate system Q, wherein N points to the axial direction of the limiting hole 12; during calibration, a local coordinate system C is established by a marking point device on a tightening gun to be calibrated, a conversion relation { R, T } between a calibration plate coordinate system Q and the local coordinate system C is obtained through a camera coordinate system, when a calibration head compresses an elastic contact piece 4 and three trigger switches 10 are conducted, a coordinate value of a calibration hole circle center O under a rigid body coordinate system Q at the moment can be automatically stored, a central point M and a central point O of a contact plane of the calibration head are approximately considered to be coincident at the moment, a coordinate value of a central point M of the contact plane under the rigid body coordinate system Q is obtained, a coordinate M '= RM + T under the local coordinate system C is obtained according to the conversion relation { R, T }, a representation N' of a tool output end direction vector N under the C local coordinate system can be obtained through calculation, the thickness of a ring-shaped plate 23 of the calibration head is known Th, a central point M1 'of a tool output end face is obtained after M' moves along the reverse direction of N Th, the vector invariance is still N ', (M1 ', N '), which is a complete description of six degrees of freedom at the tool output. Since the marking device is fixed to the tool and forms a rigid body, the coordinates of the tool output in the local coordinate system C are constant, i.e. the spatial relative position of the tool output and the marking device is constant.

Example 2

The utility model provides a calibration device for obtaining six degrees of freedom of instrument output, includes and marks head and mark portion, marks the head and is used for cooperating the instrument output, radially is provided with contact plane at the overhead, is provided with reflection of light mark point and trigger switch in mark portion, and after the contact plane directly or indirectly touched trigger switch, the pilot lamp that links to each other with trigger switch was bright. Be provided with spacing hole on mark portion, spacing hole and mark first accurate cooperation, and mark the head and can only along spacing hole axial displacement.

In this embodiment, the calibration head is composed of a column body and an annular plate fixedly arranged on the column body, the lower end surface of the annular plate is used as a contact plane, the upper end surface of the annular plate is used for being attached to the output end surface of the tool, the lower end surface of the annular plate and the upper end surface of the annular plate respectively refer to two end surfaces of the annular plate, and the column body is precisely matched with the limiting hole.

In the embodiment, the calibration part comprises a substrate and a control circuit board arranged on the substrate, the reflective mark points and the limiting holes are arranged on the substrate, and the trigger switch is arranged on the control circuit board; a conduction column is axially arranged in the limiting hole, and the conduction column can axially move and is in contact with the trigger switch after being axially pressed.

In this embodiment, the calibration device further includes a shell plate, the shell plate is connected with the base plate in a matching manner, a slot for accommodating the control circuit board is formed in the shell plate, the control circuit board is limited in the slot and located between the shell plate and the base plate, and the reflective mark point is arranged on the surface of the base plate far away from the shell plate. The shell plate is also provided with a battery mounting area and a battery protective cover, and the battery mounted in the battery mounting area provides power for the calibration device.

In this embodiment, three trigger switches are provided, and each trigger switch corresponds to one conducting column; the control circuit board of the calibration part is also provided with a control module and a communication module, the control module is connected with the indicating lamp circuit, and the processing unit of the control module realizes the following steps when executing the program:

In the present invention, the number of the conduction columns includes, but is not limited to, three, and may be more; the number of the reflective mark points is determined by the skilled person according to the actual situation.

In the utility model, the connecting piece 7 and the through hole 8 can be arranged at any position on the substrate 5 and are not limited by the installation angle; the mounting position and angle are determined by those skilled in the art according to the actual situation.

Claims

1. A calibration device for obtaining six degrees of freedom of a tool output end is characterized in that: the calibration device comprises a calibration head (20) and a calibration part, wherein the calibration head (20) is used for being matched with an output end of a tool, a contact plane (21) is radially arranged on the calibration head (20), a light reflection mark point (9) and a trigger switch (10) are arranged on the calibration part, and when the contact plane (21) directly or indirectly touches the trigger switch (10), an indicator light (11) connected with the trigger switch (10) is lightened.

2. The calibration device according to claim 1, wherein: the calibration part is provided with a limiting hole (12), the limiting hole (12) is precisely matched with the calibration head (20), and the calibration head (20) can only move along the axial direction of the limiting hole (12).

3. The calibration device according to claim 2, wherein: the calibration head (20) is composed of a column body (22) and an annular plate (23) fixedly arranged on the column body (22), the lower end face of the annular plate (23) serves as a contact plane (21), the upper end face (24) of the annular plate is used for being attached to the output end face of a tool, and the column body (22) is precisely matched with the limiting hole (12).

4. The calibration device according to claim 3, wherein: the marking part comprises a substrate (5) and a control circuit board (3) arranged on the substrate (5), the light reflecting marking points (9) and the limiting holes (12) are arranged on the substrate (5), and the trigger switch (10) is arranged on the control circuit board (3); a conducting column (6) is axially arranged in the limiting hole (12), and the conducting column (6) can axially move and is in contact with the trigger switch (10) after being axially pressed.

5. The calibration device according to claim 4, wherein: the marking part comprises a substrate (5), and a control circuit board (3), a through hole (8) and a connecting piece (7) which are arranged on the substrate (5), wherein a light-reflecting marking point (9) is arranged on the substrate (5), a limiting hole (12) is arranged on the connecting piece (7), the through hole (8) and the limiting hole (12) are coaxially arranged, and a trigger switch (10) is arranged on the control circuit board (3); a conducting column (6) is axially arranged on the connecting piece (7) and around the limiting hole (12), and the conducting column (6) can axially move and directly or indirectly contact the trigger switch (10) after being axially pressed.

6. The calibration device according to claim 5, wherein: an elastic contact piece (4) is arranged between the control circuit board (3) and the conduction column (6), the conduction column (6) can drive the elastic contact piece (4) to move axially after being pressed axially, and the elastic contact piece (4) can be contacted with the trigger switch (10).

7. The calibration device according to any one of claims 1 to 6, wherein: the calibration device further comprises a shell plate (2), the shell plate (2) is connected with the substrate (5) in a matched mode, a clamping groove used for containing the control circuit board (3) is formed in the shell plate (2), the control circuit board (3) is limited in the clamping groove and located between the shell plate (2) and the substrate (5), and the light reflection mark points (9) are arranged on the surface of the substrate (5) far away from the shell plate (2).