CN215639489U - Calibration board - Google Patents
Calibration board Download PDFInfo
- Publication number
- CN215639489U CN215639489U CN202121362940.7U CN202121362940U CN215639489U CN 215639489 U CN215639489 U CN 215639489U CN 202121362940 U CN202121362940 U CN 202121362940U CN 215639489 U CN215639489 U CN 215639489U
- Authority
- CN
- China
- Prior art keywords
- calibration
- calibration plate
- blocks
- block
- substrate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention provides a calibration plate, comprising: calibrating a plate substrate and a plurality of calibrating blocks; each calibration block is fixed on the target surface of the calibration plate substrate; wherein the heights of the calibration blocks are different; each of the calibration blocks is not in the same line. According to the calibration plate provided by the utility model, the plurality of calibration blocks are fixed on the target surface of the calibration plate substrate, at least two calibration blocks are different in height and are not in the same straight line, so that the hand-eye calibration can be carried out more simply and efficiently based on the calibration plate, the calibration plate is simple in structure, the machining process is simple, and the investment cost is lower.
Description
Technical Field
The utility model relates to the technical field of measurement and control, in particular to a calibration plate.
Background
Along with the development of intelligent manufacturing, industrial robot combines with machine vision and can improves the intelligent level of robot, improves production efficiency. In order to enable the industrial robot to complete specified control actions efficiently and accurately according to visual information acquired by machine vision, before the industrial robot actually works, the position relation between the industrial robot and the machine vision needs to be solved and corrected, namely 'hand-eye calibration'.
In the prior art, when the hand and eye calibration is carried out, the actual position information of a calibration block in the shape of a sphere, a triangular pyramid and the like needs to be acquired through a laser tracker or a probe and other devices installed at the tail end of a robot, and the acquisition process is complex in operation and low in efficiency.
SUMMERY OF THE UTILITY MODEL
The utility model provides a calibration plate, which is used for solving the defects of complex operation and low efficiency in the process of calibrating hands and eyes in the prior art and realizing simpler and more efficient hand and eye calibration.
The present invention provides a calibration plate, comprising: calibrating a plate substrate and a plurality of calibrating blocks;
each calibration block is fixed on the target surface of the calibration plate substrate;
wherein the heights of at least two of the calibration blocks are different; at least two of the calibration blocks are not in the same line.
According to the calibration plate provided by the utility model, the reflectivity of the target surface is smaller than a target reflectivity threshold value;
the difference between the reflectivity of the calibration block and the reflectivity of the target surface is greater than a target difference threshold;
according to the calibration plate provided by the utility model, the number of the calibration blocks is at least 6.
According to the calibration plate provided by the utility model, the number of the calibration blocks is 9.
According to the calibration plate provided by the utility model, each calibration block matrix is arrayed on the target surface.
According to the calibration plate provided by the utility model, the calibration block is in any one shape of a cylinder, a cuboid, a cone or a pyramid.
According to the calibration plate provided by the utility model, the calibration plate substrate is made of metal.
According to the calibration plate provided by the utility model, the calibration plate substrate is made of aluminum.
According to the calibration plate provided by the utility model, the calibration plate substrate is rectangular.
According to the calibration plate provided by the utility model, the size of the calibration plate substrate is 400mm x 400 mm.
According to the calibration plate provided by the utility model, the plurality of calibration blocks are fixed on the target surface of the calibration plate substrate, at least two calibration blocks are different in height and are not in the same straight line, so that the hand-eye calibration can be carried out more simply and efficiently based on the calibration plate, the calibration plate is simple in structure, the machining process is simple, and the investment cost is lower.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed for the embodiments or the prior art descriptions, and obviously, the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural diagram of a calibration plate provided by the present invention;
FIG. 2 is a top view of a calibration plate provided by the present invention;
FIG. 3 is a schematic diagram of a use scenario of a calibration plate provided by the present invention;
fig. 4 is a schematic flow chart of hand-eye calibration using the calibration plate provided by the present invention.
Reference numerals:
101: calibrating a board substrate; 102: calibrating the block; 301: a mechanical arm;
302: a vision sensor; 303: and (5) calibrating the board.
Detailed Description
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be interpreted broadly, e.g. as a fixed connection, a detachable connection or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
It should be noted that, when the calibration plate of the present invention is used for hand-eye calibration, the image data of the calibration plate may be acquired by the vision sensor to be calibrated, and the conversion relationship between the base coordinate system and the vision sensor coordinate system may be acquired based on the image data of the calibration plate acquired by the vision sensor, so that the image data acquired by the vision sensor may be converted into the base coordinate system based on the conversion relationship between the base coordinate system and the vision sensor coordinate system.
Fig. 1 is a schematic structural diagram of a calibration plate provided by the present invention. The calibration plate of the present invention is described below with reference to fig. 1. As shown in fig. 1, the calibration plate includes: a calibration plate base plate 101 and a plurality of calibration blocks 102.
Each calibration block 102 is fixed to the target surface of the calibration plate substrate 101.
Wherein the heights of at least two calibration blocks 102 are different; at least two calibration blocks 102 are not collinear.
The calibration plate substrate 101 may be a thin flat plate with a predetermined size and a predetermined shape, for example: the calibration plate substrate 101 may be a square thin flat plate of 300mm x 500 mm; or a circular thin flat plate with a radius of 400 mm.
The surface of the calibration plate substrate 101 to which each calibration block 102 is fixed is a target surface of the calibration plate substrate 101.
Fig. 2 is a top view of a calibration plate provided by the present invention. As shown in fig. 2, the preset dimensions of the calibration plate substrate 101 include a length L and a width H of the calibration plate. If the calibration plate substrate 101 is a circular thin flat plate, the predetermined dimension may further include a radius of the calibration plate substrate 101.
It should be noted that the preset size and the preset shape of the calibration plate substrate 101 may be determined according to actual situations, for example: the preset size of the calibration plate substrate 101 may be determined according to the field of view of the vision sensor. Specific values of the preset size and the preset shape of the calibration plate substrate 101 are not specifically limited in the embodiment of the present invention.
The calibration plate substrate 101 may be made of any material, for example: metal, plastic, or resin, etc.
The embodiment of the utility model does not limit the specific material of the calibration plate substrate 101.
It should be noted that, marks may also be disposed on the calibration board substrate 101, and are used for describing the posture of the calibration board, for example: a corner of the calibration plate substrate 101 may be chamfered (as shown in fig. 2); alternatively, a mark is provided at a predetermined position on the calibration plate substrate 101.
The calibration block 102 may be a geometric body with distinct features, such as: a cylinder or a cone, etc.
It should be noted that, in the embodiment of the present invention, the specific type of each calibration block 102 is not specifically limited.
Alternatively, different calibration blocks 102 may be different types of geometries, such as: the 6 calibration blocks 102 may include 3 cylinders and 3 cones.
The number of calibration blocks 102 may be determined according to practical situations, for example: the number of the scaling blocks 102 may be determined according to the size of the scaling plate substrate 101. The embodiment of the present invention does not limit the specific number of the calibration blocks 102. The larger the number of calibration blocks 102, the more feature information can be provided, and the higher the accuracy of hand-eye calibration obtained based on the above calibration plate.
The calibration block 102 may be of any material, such as: metal, plastic, or resin, etc. The embodiment of the present invention does not limit the specific material of the calibration block 102.
Scaling the size of the block 102 may include: the length and width of the lower surface of calibration block 102 and the height of calibration block 102. The size of the calibration block 102 may be determined according to practical situations, for example: the size of the calibration block 102 may be determined according to the size of the calibration board substrate 101 and the visual field range of the vision sensor. The specific value of the size of the scaling block 102 is not limited in the embodiments of the present invention.
It should be noted that the height of each calibration block 102 may affect the hand-eye calibration accuracy. Specifically, if the heights of the calibration blocks 102 are the same, only the position information of a certain height can be obtained based on the image data of the calibration plate acquired by the vision sensor, and more comprehensive height position information cannot be obtained, so that the obtained hand-eye calibration accuracy is low.
In the embodiment of the present invention, the heights of at least two calibration blocks 102 are different, and the more discrete the height of each calibration block 102 is, the higher the calibration accuracy of the obtained hand-eye is.
Each calibration block 102 may be fixed at any position on the calibration plate substrate 101 where the target surfaces are not on the same line.
The fixing manner of each calibration block 102 and the target surface of the calibration plate substrate 101 may include, but is not limited to: welded, hinged or glued, etc.
It should be noted that the position where each calibration block 102 is fixed on the target surface of the calibration plate substrate 101 may affect the hand-eye calibration accuracy. Specifically, if the calibration blocks 102 are on the same straight line, only the position information of a certain straight line can be obtained based on the image data of the calibration plate acquired by the vision sensor, and more comprehensive plane position information cannot be obtained, so that the obtained hand-eye calibration accuracy is low.
In the embodiment of the present invention, the at least two calibration blocks 102 are not on the same straight line, and the more discrete the position of each calibration block 102 on the calibration board substrate 101, the higher the calibration accuracy of the obtained hand-eye calibration. Fig. 2 is a top view of a calibration plate provided by the present invention. As shown in fig. 2, the position of the calibration block 102 can be represented by a distance l from the center point of the calibration block 102 to the left edge of the calibration plate substrate 101 and a distance h from the center point of the calibration block 102 to the lower edge of the calibration plate substrate 101.
It should be noted that the calibration board shown in fig. 1 and 2 is only one example of the calibration board in the present invention. The shape of the calibration plate base plate 101, the type, size, and position of each calibration block 102 in the calibration plate of the present invention are not limited to those shown in fig. 1 and 2.
According to the embodiment of the utility model, the plurality of calibration blocks are fixed on the target surface of the calibration plate substrate, and at least two calibration blocks are different in height and are not on the same straight line, so that the hand-eye calibration can be carried out more simply and efficiently on the basis of the calibration plate, and the calibration plate is simple in structure, simple in processing process and lower in investment cost.
Based on the foregoing embodiments, the reflectivity of the target surface is less than the target reflectivity threshold.
Specifically, the reflectivity of the target surface of the calibration plate substrate 101 may affect the hand-eye calibration accuracy.
The higher the reflectivity of the target surface is, the poorer the imaging effect when the vision sensor collects the image data of the calibration plate is, and the lower the calibration precision of the hands and eyes is.
In the embodiment of the present invention, the reflectivity of the target surface of the calibration board substrate 101 is greater than the target reflectivity threshold, so that the reflectivity of the target surface of the calibration board substrate 101 does not affect the hand-eye calibration precision.
The reflectivity of the target surface may be made greater than the target reflectivity threshold in a number of ways, such as: the calibration plate substrate 101 can be made of a material with a low reflectivity; or sanding the target surface, etc.
It should be noted that the target reflectivity threshold may be determined according to actual conditions. The specific value of the target reflectivity threshold is not particularly limited in the embodiment of the present invention.
The difference between the reflectivity of calibration block 102 and the reflectivity of the target surface is greater than a target difference threshold.
In the image data of the calibration plate collected by the vision sensor, the contrast between the region corresponding to the target surface of the calibration plate substrate 101 and the region corresponding to each calibration block 102 may affect the hand-eye calibration accuracy.
Specifically, the greater the contrast between the region corresponding to the target surface and the region corresponding to each calibration block 102, the more accurate the feature information of each calibration block 102 extracted based on the image data of the calibration plate acquired by the vision sensor, and the higher the obtained hand-eye calibration accuracy.
The greater the difference between the reflectivity of the target surface and the reflectivity of each calibration block 102, the greater the contrast between the area corresponding to the surface of the calibration plate substrate 101 and the area corresponding to each calibration block 102 in the image data of the calibration plate collected by the vision sensor.
The difference between the reflectivity of the target surface of the calibration plate substrate 101 and the reflectivity of the calibration blocks 102 is greater than the target difference threshold, so that the characteristic information of each calibration block 102 can be more accurately extracted based on the image data of the calibration plate acquired by the vision sensor.
In the embodiment of the utility model, the reflectivity of the target surface of the calibration plate substrate is smaller than the target reflectivity threshold, and the difference value between the reflectivity of the target surface of the calibration plate substrate and the reflectivity of the calibration block is larger than the target difference threshold, so that the image data of the calibration plate can be more easily imaged when the vision sensor collects the image data of the calibration plate, the characteristic information of each calibration block can be more accurately extracted based on the image data of the calibration plate collected by the vision sensor, and the hand-eye calibration can be more accurately carried out.
Based on the content of the above embodiments, the number of the calibration blocks 102 is at least 6.
Specifically, at least 6 calibration blocks 102 are fixed on the target surface of the calibration plate substrate 101, and the at least 6 calibration blocks 102 are not in the same line, so that sufficient characteristic information can be obtained for performing hand-eye calibration.
According to the embodiment of the utility model, at least 6 calibration blocks are fixed on the target surface of the calibration plate substrate, and at least two calibration blocks are different in height and are not on the same straight line, so that more comprehensive characteristic information can be provided based on the at least 6 calibration blocks, and the precision of hand-eye calibration based on the calibration plate can be improved.
Based on the content of the above embodiments, the number of calibration blocks is 9.
Specifically, 9 calibration blocks 102 are fixed on the target surface of the calibration plate substrate 101, and the 9 calibration blocks 102 have different heights and are not in the same line, so that sufficient characteristic information can be obtained for performing hand-eye calibration.
According to the embodiment of the utility model, 9 calibration blocks are fixed on the target surface of the calibration plate substrate, and at least two calibration blocks are different in height and are not on the same straight line, so that more comprehensive characteristic information can be provided based on the 9 calibration blocks, and the precision of hand-eye calibration based on the calibration plate can be improved.
Based on the content of the above embodiments, the calibration block 102 has any one shape of a cylinder, a rectangular parallelepiped, a cone, or a pyramid.
Specifically, a cylinder, a cuboid, a cylinder, or a pyramid is a geometric body having distinct features. In the case that the shape of the calibration block 102 is any one of a cylinder, a cuboid, a cylinder, or a pyramid, the feature information of the calibration block 102 can be more easily extracted based on the image data of the calibration plate acquired by the vision sensor, and the process of extracting the feature information of the calibration block 102 is simpler.
In the embodiment of the utility model, the calibration block is in any one of a cylinder, a cuboid, a cone or a pyramid, so that the characteristic information of each calibration block can be more accurately and easily extracted, the process of extracting the characteristic information of the calibration block is simpler, and the precision of hand-eye calibration based on the calibration plate can be improved.
Based on the above description of the embodiments, the calibration blocks 102 are matrix-arrayed on the target surface of the calibration plate substrate 101.
Specifically, the matrix array of the calibration blocks 102 and the target surface of the calibration plate substrate 101 may use a center point of the calibration block 102 in the top-view projection as a feature point of the calibration block 102 in the image data of the calibration plate acquired by the vision sensor. In the case where each calibration block 102 is matrix-arrayed with the target surface of the calibration plate substrate 101, each calibration block 102 forms a lattice at characteristic points in the image data of the calibration plate acquired by the vision sensor.
Alternatively, as shown in fig. 1 and 2, 9 calibration blocks 102 are matrix-arrayed on the target surface of the calibration plate substrate 101, and each calibration block 102 is a cylinder with a bottom surface radius r.
The distance l from the feature point of the three calibration blocks of the first column to the left edge of the calibration plate substrate may be 3r, the distance l from the feature point of the three calibration blocks of the second column to the left edge of the calibration plate substrate may be 7r, and the distance l from the feature point of the three calibration blocks of the third column to the left edge of the calibration plate substrate may be 11 r.
The distance h from the feature point of the three calibration blocks of the first row to the lower edge of the calibration plate substrate may be 11r, the distance h from the feature point of the three calibration blocks of the second row to the lower edge of the calibration plate substrate may be 7r, and the distance h from the feature point of the three calibration blocks of the third row to the lower edge of the calibration plate substrate may be 3 r.
After the characteristic information of each calibration block is extracted according to the image of the calibration plate acquired by the vision sensor, the position information among the calibration blocks can be verified mutually, or the position information of each calibration block can be determined only based on the position information of a plurality of calibration blocks, so that the calculation efficiency and the calculation accuracy can be improved.
According to the embodiment of the utility model, the plurality of calibration blocks are arrayed on the surface of the calibration plate substrate, and at least two calibration blocks are different in height and are not on the same straight line, so that the characteristic information of each calibration block can be accurately and efficiently extracted based on the image data of the calibration plate acquired by the vision sensor, the calculation process can be reduced, and the calculation efficiency can be improved.
Based on the above embodiments, the calibration board substrate 101 is made of metal.
Specifically, the calibration board substrate 101 may be made of metal, for example: aluminum or stainless steel, etc.
In the embodiment of the utility model, the calibration plate substrate is made of metal, the processing process is simple, the calibration plate is not easy to damage, and the service life and service life of the calibration plate are longer.
Based on the above embodiments, the calibration board substrate 101 is made of aluminum.
Specifically, the aluminum material includes an alloy material with a certain amount of other alloying elements added based on aluminum, such as: the aluminum-magnesium alloy or the aluminum-manganese alloy and the like are widely applied to aerospace, aviation, transportation, construction, electromechanics, lightening and daily necessities.
The calibration plate substrate 101 may be made of aluminum.
In the embodiment of the utility model, the calibration plate substrate is made of aluminum, the processing process is simple, the calibration plate is not easy to damage, the service life and service life of the calibration plate are longer, the quality of the calibration plate is smaller and lighter, and the calibration plate is convenient to carry and carry.
Based on the contents of the above embodiments, the calibration plate substrate 101 has a rectangular shape.
In the embodiment of the utility model, the calibration plate substrate is rectangular, and compared with a circular or special-shaped calibration plate substrate, the rectangular calibration plate substrate is more convenient to carry and store.
Based on the description of the above embodiments, the size of the calibration plate substrate 101 is 400mm x 400 mm.
Specifically, the length L and the width H of the calibration plate are both 400 mm.
The rectangular calibration plate substrate in the embodiment of the utility model has the size of 400mm x 400mm, and can be suitable for hand-eye calibration of most industrial robots.
Fig. 3 is a schematic diagram of a usage scenario of the calibration board provided by the present invention. As shown in fig. 3, vision sensor 302 may capture image data of calibration plate 303.
It should be noted that the calibration board 303 may be the calibration board described in any of the above embodiments. However, to facilitate understanding of the embodiments of the present invention, the calibration plate 303 shown in fig. 3 is the same as the calibration plate shown in fig. 1 and 2.
The vision sensor 302 may be a line laser sensor, a structured light sensor, a binocular vision sensor, or a TOF sensor, among others.
It should be noted that the type of the vision sensor 302 in the embodiment of the present invention may be determined according to actual situations. The specific type of the vision sensor 302 is not particularly limited in the embodiments of the present invention.
The mechanical arm 301 may drive an actuator at the end of the mechanical arm 301 to move within a preset range, thereby completing a predetermined control action.
The structure of the calibration board 303 can be referred to the content of the above embodiment of the calibration board 303, and is not described herein again.
A vision sensor 302 is fixed to the end of the robot arm 301.
Specifically, the vision sensor 302 may be fixed to the end of the robot arm 301 in various ways, such as: welding or hinging, etc.
After the vision sensor 302 is fixed at the end of the mechanical arm 301, the mechanical arm 301 may drive the vision sensor 302 to obtain the image data of the calibration board 303, and obtain the image data of the control target after performing the hand-eye calibration.
And a calibration plate 303 disposed in a visual field of the visual sensor 302.
Specifically, the calibration board 303 is disposed in a visual field of the vision sensor 302, and the vision sensor 302 can acquire image data of the calibration board 303.
Preferably, the vision sensor 302 is a line laser sensor.
The line laser sensor is a sensor for acquiring image data by utilizing a laser technology, has the advantages of high speed, high precision, wide measuring range, strong reliability, wide application range and the like, and is widely applied to detection of length, distance, three-dimensional morphology and the like.
In order to facilitate understanding of the calibration plate of the present invention, the calibration plate of the present invention is explained below by an application example.
Fig. 4 is a schematic flow chart of hand-eye calibration using the calibration plate provided by the present invention. As shown in fig. 4, the specific steps of performing hand-eye calibration based on the calibration plate of the present invention are as follows: step 401, establishing a calibration plate coordinate system.
Specifically, as shown in fig. 3, the calibration plate coordinate system is established by using the lower left corner of the calibration plate 303 (the chamfered corner of the calibration plate 303) as the origin of the calibration plate coordinate system, the lower edge of the calibration plate 303 as the X-axis of the calibration plate coordinate system, and the left edge of the calibration plate 303 as the Y-axis of the calibration plate coordinate system.
As shown in fig. 2, the calibration plate 303 includes 9 calibration blocks 102, each calibration block 102 is a cylinder, and a center point (center of a circle) of an upper surface of each cylinder is used as a feature point of each cylinder.
Determining the coordinate { J } of the characteristic point of each calibration block 102 in the calibration plate coordinate system1,J2,…,JnWhere n denotes the number of scaling blocks 102, as shown in fig. 2, and n equals 9.
And 402, acquiring coordinates of the target point position in a calibration plate coordinate system and a base coordinate system.
Specifically, the mechanical arm 301 is controlled to move arbitrarily in the target space, m (m is more than or equal to 6) target point positions are determined, and the coordinates { Q ] of the target point positions in the base coordinate system are determined1,Q2,…,QmAnd the coordinates P in the calibration plate coordinate system1,P2,…,Pm}。
The base coordinate system may be determined based on the position of an actuator attached to the end of the robot arm 301. Specifically, before step 401, the position of the actuator may be calibrated by a calibration pin.
The specific calculation formula is as follows:
{Q1,Q2,…,Qm}·Xbase mark＝{P1,P2,…,Pm}。
Specifically, the robot arm 301 may be controlled to drive the line vision sensor 302 to collect image data of the calibration plate 303 at a preset height directly above the calibration plate 303. When the vision sensor 302 is a line laser sensor, the acquired image data of the calibration plate 303 is point cloud image data.
Preprocessing the acquired image data of the calibration plate 303, performing feature matching, determining the region corresponding to each calibration block 102, and further determining the coordinates { C ] of the feature point of each calibration block 102 in the sensor coordinate system1,C2,…,Cn}。
Xbase mark·{J1,J2,…,Jn}＝{P1,P2,…,Pn}。
Xbase phase·{P1,P2,…,Pn}＝{C1,C2,…,Cn}。
The coordinates { Q ] of each target point in the base coordinate system1,Q2,…,QmAnd coordinates (P) of each target point in a calibration plate coordinate system1,P2,…,PmAnd coordinates { C) of feature points of each calibration block 102 in a sensor coordinate system1,C2,…,CnAnd the coordinates { J } of the feature points of each calibration block 102 in the calibration plate coordinate system1,J2,…,JnAnd the coordinates are space coordinates and comprise coordinates in three directions of a horizontal axis, a longitudinal axis and a numerical axis.
It should be noted that the industrial robot in the present invention may be any industrial robot that needs to perform hand-eye calibration, for example: six industrial robots, truss manual robots, four-axis industrial robots, and the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A calibration plate, comprising: calibrating a plate substrate and a plurality of calibrating blocks;
each calibration block is fixed on the target surface of the calibration plate substrate;
wherein the heights of at least two of the calibration blocks are different; at least two of the calibration blocks are not in the same line.
2. The calibration plate of claim 1, wherein the target surface has a reflectivity less than a target reflectivity threshold;
the difference between the reflectivity of the calibration block and the reflectivity of the target surface is greater than a target difference threshold.
3. Calibration plate according to claim 2, characterized in that the number of calibration blocks is at least 6.
4. Calibration plate according to claim 3, characterized in that the number of calibration blocks is 9.
5. Calibration plate according to claim 2, characterized in that the calibration block has the shape of any one of a cylinder, a cuboid, a cone or a pyramid.
6. Calibration plate according to any of claims 1 to 5, characterized in that each of said calibration blocks is matrix-arrayed on said target surface.
7. Calibration plate according to any of claims 1 to 5, characterized in that the calibration plate substrate is of metal.
8. Calibration plate according to claim 7, characterized in that the calibration plate substrate is of aluminium.
9. Calibration plate according to any of claims 1 to 5, characterized in that the calibration plate substrate is rectangular in shape.
10. Calibration plate according to claim 9, characterized in that the dimensions of the calibration plate substrate are 400mm x 400 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121362940.7U CN215639489U (en) | 2021-06-18 | 2021-06-18 | Calibration board |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121362940.7U CN215639489U (en) | 2021-06-18 | 2021-06-18 | Calibration board |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215639489U true CN215639489U (en) | 2022-01-25 |
Family
ID=79943948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121362940.7U Active CN215639489U (en) | 2021-06-18 | 2021-06-18 | Calibration board |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215639489U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115371564A (en) * | 2022-10-24 | 2022-11-22 | 南京航空航天大学 | Method and system for calibrating relative pose of linear laser sensor and robot flange plate |
| CN115979121A (en) * | 2022-10-26 | 2023-04-18 | 成都清正公路工程试验检测有限公司 | Method for improving point position measurement precision of automatic measurement system |
-
2021
- 2021-06-18 CN CN202121362940.7U patent/CN215639489U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115371564A (en) * | 2022-10-24 | 2022-11-22 | 南京航空航天大学 | Method and system for calibrating relative pose of linear laser sensor and robot flange plate |
| CN115371564B (en) * | 2022-10-24 | 2023-03-07 | 南京航空航天大学 | Method and system for calibrating relative pose of linear laser sensor and robot flange plate |
| CN115979121A (en) * | 2022-10-26 | 2023-04-18 | 成都清正公路工程试验检测有限公司 | Method for improving point position measurement precision of automatic measurement system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215639489U (en) | Calibration board | |
| CN107256568B (en) | High-precision mechanical arm hand-eye camera calibration method and calibration system | |
| CN110906863B (en) | Hand-eye calibration system and calibration method for line-structured light sensor | |
| CN109612390B (en) | Large-size workpiece automatic measuring system based on machine vision | |
| CN109794963B (en) | Robot rapid positioning method facing curved surface component | |
| CN102155940B (en) | Solid target for binocular vision positioning and tracking system | |
| CN107292927A (en) | A kind of symmetric motion platform's position and pose measuring method based on binocular vision | |
| CN113674345B (en) | Two-dimensional pixel-level three-dimensional positioning system and positioning method | |
| CN111191625A (en) | Object identification and positioning method based on laser-monocular vision fusion | |
| CN102607457A (en) | Measuring device and measuring method for large three-dimensional morphology based on inertial navigation technology | |
| CN111028340A (en) | Three-dimensional reconstruction method, device, equipment and system in precision assembly | |
| CN112629499B (en) | Hand-eye calibration repeated positioning precision measuring method and device based on line scanner | |
| CN112361958B (en) | Line laser and mechanical arm calibration method | |
| CN113155047B (en) | Long-distance hole distance measuring device and method, storage medium, equipment and rail vehicle | |
| CN114055444B (en) | Robot, control method and control device thereof, calibration method and calibration control device thereof, and storage medium | |
| CN113465513A (en) | Laser sensor inclination angle error measurement compensation method and system based on cylindrical angle square | |
| CN112945145A (en) | Non-contact corner measuring method based on multipoint ranging | |
| CN113781558B (en) | Robot vision locating method with decoupling gesture and position | |
| CN101441065A (en) | Tiny displacement deforming high precision and non-contact type measuring system and method | |
| CN111986268B (en) | 3D line laser scanning camera hand-eye calibration method | |
| CN113418927A (en) | Automobile mold visual detection system and detection method based on line structured light | |
| CN109764807A (en) | The 2D visible detection method and detection system of engine cylinder body location position | |
| CN115609586B (en) | Robot high-precision assembly method based on grabbing pose constraint | |
| CN111409109A (en) | Method for measuring and evaluating stability of industrial robot | |
| CN114897981A (en) | Hanger pose identification method based on visual detection |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |