A robot hand-eye camera automatic calibration device

Abstract

The invention discloses an automatic calibration device for a robot hand-eye camera, and the technical scheme is as follows: the device comprises a robot body, a camera body is fixedly connected to the front side of the robot body, a shell is fixedly sleeved outside the camera body, a cleaning mechanism is arranged inside the shell, the cleaning mechanism comprises a motor, the motor is fixedly connected to the top of the shell, a cavity one is arranged at the top of the shell, a dust box is fixedly connected to one side of the shell, a cavity two is arranged on one side of the dust box and is interconnected with the bottom of the shell, two reciprocating screws are arranged inside the cavity one, and the beneficial effect of the invention is as follows: the two sliding seats can be continuously moved up and down, thereby driving the cleaning pad to continuously move up and down, so that the dust adhered to the camera body can be cleaned, so that the dust can be prevented from affecting the accuracy of the calibration parameter value, and further, there is no need to manually clean the dust on the lens regularly, and the labor intensity of the manual work can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation and machine vision technology, and in particular to an automatic calibration device for a robot hand-eye camera. Background Art

[0002] Industrial cameras are commonly used image acquisition sensors in machine vision and photogrammetry systems. They are widely used in automated production scenarios for workpiece identification, detection, and visual measurement. For example, workpiece feature recognition and visual positioning applications in robot spraying, robot welding, and other scenarios. The parameter calibration of industrial cameras is divided into internal parameter calibration and external parameter calibration. In the field of machine vision and photogrammetry, the parameter calibration of industrial cameras is very important. The accuracy of parameter calibration determines the accuracy of machine vision and photogrammetry. At present, the parameter calibration of industrial cameras is mainly carried out using chessboard calibration plates and circular array calibration plates. The commonly used calibration method is the single calibration plate multi-angle calibration method. By taking multiple images of the calibration plate at multiple angles at the target measurement position, the projection equation is established using the image, and then the equation is solved jointly to obtain the parameter value of the industrial camera.

[0003] The existing high-precision robot hand-eye camera automatic calibration device does not have a cleaning function when in use. As a result, a lot of dust will adhere to the camera lens when the device works for a long time. The existing device has no automatic cleaning function, so the dust will affect the accuracy of the calibration parameter value, and then it is necessary to manually clean the dust on the lens regularly, which increases the labor intensity of the manual work. Summary of the invention

[0004] To this end, the present invention provides a robot hand-eye camera automatic calibration device, which solves the problems in the background technology through the design of a cleaning mechanism.

[0005] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a robot hand-eye camera automatic calibration device, comprising a robot body, a camera body is fixedly connected to the front side of the robot body, a shell is fixedly provided outside the camera body, and a cleaning mechanism is provided inside the shell;

[0006] The cleaning mechanism includes a motor, which is fixedly connected to the top of the shell, and a cavity one is provided on the top of the shell. A dust box is fixedly connected to one side of the shell, and a cavity two is provided on one side of the dust box and the bottom of the shell that is connected to each other. Two reciprocating screws are provided inside the cavity one, and the top end of the reciprocating screw close to the motor is fixedly connected to the motor output shaft and the bottom end thereof is connected to the inner wall of the bottom of the shell, and the bottom end of the reciprocating screw away from the motor extends to the inside of the cavity two. The two reciprocating screws are located on both sides of the camera body, and sliding seats are sleeved on the outside of the two reciprocating screws, and the sliding seats are connected to the reciprocating screws through a ball nut pair. Cleaning pads are fixedly connected to the inner sides of the two sliding seats, and the cleaning pads are in contact with the lens of the camera body. Fan blades are provided inside the dust box, and a dust suction cover is fixedly connected to the inner wall of the top of the shell. A connecting pipe is fixedly connected to one side of the dust suction cover, and one end of the connecting pipe extends to the inside of the dust box, and the connecting pipe is L-shaped.

[0007] Preferably, a cover plate is provided on one side of the dust box, the cover plate is connected to the dust box by a hinge, a connecting plate is fixedly connected to the inside of the dust box, the connecting plate is located at the top of the fan blade and the connecting plate is in contact with the cover plate, and a filter is fixedly embedded in the connecting plate.

[0008] Preferably, a fixing plate is fixedly connected inside the dust box, the fixing plate is located at the bottom of the connecting plate and the fixing plate is in contact with the cover plate, and a rotating shaft 1 is fixedly connected to the bottom of the fan blade, and the bottom end of the rotating shaft 1 extends to the outside of the bottom of the fixing plate.

[0009] Preferably, a sprocket 1 is fixedly sleeved on the outside of the two reciprocating screws, the sprocket 1 is located inside the cavity 1, a chain 1 is sleeved on the outside of the two sprockets 1, and the two sprockets 1 are driven and connected by the chain 1.

[0010] Preferably, the reciprocating screw far away from the motor and the outside of the rotating shaft are both fixedly sleeved with sprocket 2, the sprocket 2 is located inside the cavity 2, the two sprockets are externally sleeved with chain 2, and the two sprockets are driven and connected by chain 2.

[0011] Preferably, the outer sides of the two sliding seats are fixedly connected to limiting blocks, the inner walls on both sides of the shell are provided with limiting grooves, and the limiting blocks are embedded in the limiting grooves and matched with the limiting grooves.

[0012] Preferably, a ventilation hole is provided at the bottom of the dust box.

[0013] Preferably, a support plate is fixedly connected to one side of the shell, the support plate is located on the top of the dust box, and the connecting pipe passes through the support plate.

[0014] Preferably, the reciprocating screw is connected to the housing via a bearing.

[0015] Preferably, the rotating shaft 1 is connected to the fixed plate via a bearing.

[0016] The beneficial effects of the present invention are:

[0017] 1. The present invention drives two reciprocating screws to rotate through the operation of a motor, so that the two sliding seats can be continuously moved up and down, thereby driving the cleaning pad to continuously move up and down, so that the dust adhering to the camera body can be cleaned, so that the dust can be prevented from affecting the accuracy of the calibration parameter value, and then there is no need to manually clean the dust on the lens regularly, which can greatly reduce the labor intensity of manual labor;

[0018] 2. The fan blade design of the present invention can generate a certain suction force, so that the dust cleaned by the cleaning pad can be sucked into the dust box for collection, which can prevent the cleaned dust from floating freely inside the shell and prevent the dust from adhering to the lens of the camera body again. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of the overall structure provided by the present invention;

[0020] Figure 2 A front cross-sectional view provided by the present invention;

[0021] Figure 3 The present invention provides Figure 2 A in the enlarged view;

[0022] Figure 4 A three-dimensional diagram of the connecting pipe provided by the present invention;

[0023] In the figure: 1 robot body, 2 camera body, 3 housing, 4 motor, 5 dust box, 6 reciprocating screw, 7 sliding seat, 8 cleaning pad, 9 fan blade, 10 dust cover, 11 connecting pipe, 12 cover plate, 13 connecting plate, 14 filter, 15 fixing plate, 16 rotating shaft 1, 17 sprocket 1, 18 chain 1, 19 sprocket 2, 20 chain 2, 21 limit block, 22 support plate. DETAILED DESCRIPTION

[0024] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0025] See attached Figure 1-4 The present invention provides a robot hand-eye camera automatic calibration device, comprising a robot body 1, a camera body 2 is fixedly connected to the front side of the robot body 1, a shell 3 is fixedly sleeved outside the camera body 2, and a cleaning mechanism is arranged inside the shell 3;

[0026] The cleaning mechanism includes a motor 4, which is fixedly connected to the top of the shell 3. A cavity 1 is opened at the top of the shell 3. A dust box 5 is fixedly connected to one side of the shell 3. A cavity 2 that is interconnected is opened at one side of the dust box 5 and the bottom of the shell 3. Two reciprocating screws 6 are arranged inside the cavity 1. The top end of the reciprocating screw 6 close to the motor 4 is fixedly connected to the output shaft of the motor 4 and its bottom end is connected to the inner wall of the bottom of the shell 3. The bottom end of the reciprocating screw 6 away from the motor 4 extends to the inside of the cavity 2. The two reciprocating screws 6 are located on both sides of the camera body 2. Sliding seats 7 are sleeved on the outside of the two reciprocating screws 6. The sliding seats 7 are connected to the reciprocating screws 6 through a ball nut pair. Cleaning pads 8 are fixedly connected to the inner sides of the two sliding seats 7. The cleaning pads 8 are in contact with the lens of the camera body 2. Fan blades 9 are arranged inside the dust box 5. A dust suction cover 10 is fixedly connected to the inner wall of the top of the shell 3. A connecting pipe 11 is fixedly connected to one side of the dust suction cover 10. One end of the connecting pipe 11 extends to the inside of the dust box 5. The connecting pipe 11 is L-shaped.

[0027] In this embodiment, when dust needs to be cleaned, the control motor 4 drives the reciprocating screw 6 on the left to rotate, the reciprocating screw 6 on the left drives the sprocket 17 on the left to rotate, the sprocket 17 on the left drives the sprocket 17 on the right to rotate, the sprocket 17 on the right drives the reciprocating screw 6 on the right to rotate, the two reciprocating screws 6 rotate to drive the two sliding seats 7 to move up and down continuously, so that the cleaning pad 8 can move up and down continuously, so that the dust adhered to the lens of the camera body 2 can be cleaned, so that the dust can be prevented from affecting the accuracy of the calibration parameter value, and then there is no need to manually clean the dust on the lens regularly, which can greatly reduce the labor intensity of manual labor;

[0028] Among them, in order to achieve the purpose of conveniently cleaning the dust inside the collection box, the present device adopts the following technical solutions: a cover plate 12 is provided on one side of the dust box 5, the cover plate 12 is connected to the dust box 5 by a hinge, a connecting plate 13 is fixedly connected inside the dust box 5, the connecting plate 13 is located at the top of the fan blade 9 and the connecting plate 13 is in contact with the cover plate 12, a filter screen 14 is fixedly embedded inside the connecting plate 13, and the cover plate 12 is connected to the dust box 5 by a hinge, so that the dust inside the collection box can be conveniently cleaned;

[0029] Among them, in order to achieve the purpose of transmission, the present device adopts the following technical solutions: a fixed plate 15 is fixedly connected inside the dust box 5, the fixed plate 15 is located at the bottom of the connecting plate 13 and the fixed plate 15 is in contact with the cover plate 12, a rotating shaft 16 is fixedly connected to the bottom of the fan blade 9, and the bottom end of the rotating shaft 16 extends to the outside of the bottom of the fixed plate 15, and the two reciprocating screws 6 are fixedly sleeved with sprockets 17 on the outside, the sprockets 17 are located inside the cavity 1, and the two sprockets 17 are sleeved with chains 18 on the outside, and the two sprockets 17 are driven and connected by the chain 18, and the reciprocating screws 6 away from the motor 4 are fixedly sleeved with sprockets 2 19 on the outside of the rotating shaft 16, the sprockets 2 19 are located inside the cavity 2, and the two sprockets 2 19 are sleeved with chains 20 on the outside, and the two sprockets 2 19 are driven and connected by the chain 2 20, and the two reciprocating screws 6 can be rotated at the same time by the chain 18, and the rotating shaft 16 and the reciprocating screws 6 can be rotated at the same time by the chain 2 20;

[0030] In order to achieve the purpose of stable movement, the device adopts the following technical solutions: the outer sides of the two sliding seats 7 are fixedly connected to the limiting blocks 21, the inner walls on both sides of the shell 3 are provided with limiting grooves, the limiting blocks 21 are embedded in the limiting grooves and matched with the limiting grooves, and the limiting blocks 21 can make the sliding seats 7 more stable when moving;

[0031] In order to achieve the purpose of accelerating the air flow rate inside the dust box 5, the present device adopts the following technical solution: a ventilation hole is opened at the bottom of the dust box 5, and the ventilation hole can accelerate the air flow rate inside the dust box 5;

[0032] In order to achieve the purpose of support, the device is implemented by the following technical solution: a support plate 22 is fixedly connected to one side of the housing 3, the support plate 22 is located on the top of the dust box 5, the connecting pipe 11 passes through the support plate 22, and the support plate 22 can support the connecting pipe 11;

[0033] In order to reduce wear, the device is implemented by the following technical solution: the reciprocating screw 6 is connected to the housing 3 through a bearing, and the rotating shaft 16 is connected to the fixed plate 15 through a bearing. The bearing connection can reduce wear.

[0034] The use process of the present invention is as follows: when using the present invention, when it is necessary to clean the dust, the control motor 4 is operated to drive the reciprocating screw 6 on the left to rotate, the rotation of the reciprocating screw 6 on the left drives the sprocket 17 on the left to rotate, the rotation of the sprocket 17 on the left drives the sprocket 17 on the right to rotate, the rotation of the sprocket 17 on the right drives the reciprocating screw 6 on the right to rotate, the rotation of the two reciprocating screws 6 drives the two sliding seats 7 to move up and down continuously, so that the cleaning pad 8 can move up and down continuously, so that the dust adhered to the lens of the camera body 2 can be cleaned, so that the dust can be prevented from affecting the accuracy of the calibration parameter value, and then there is no need for manual Regularly cleaning the dust on the lens can greatly reduce the labor intensity of manual labor, and the rotation of the reciprocating screw 6 on the right side drives the sprocket 2 19 on the left side to rotate, the rotation of the sprocket 2 19 on the left side drives the sprocket 2 19 on the right side to rotate, the rotation of the sprocket 2 19 on the right side drives the rotating shaft 16 to rotate, the rotation of the rotating shaft 16 drives the fan blade 9 to rotate, and the rotation of the fan blade 9 can generate a certain suction force. Through the design of the connecting tube 11 and the dust absorption cover 10, the dust cleaned by the cleaning pad 8 can be sucked into the dust box 5 for collection, so that the cleaned dust can be prevented from floating randomly inside the housing 3, and the dust can be prevented from adhering to the lens of the camera body 2 again.

[0035] The above are only preferred embodiments of the present invention. Any person skilled in the art may modify the present invention by using the above technical solutions or modify it into an equivalent technical solution. Therefore, any simple modification or equivalent replacement made according to the technical solution of the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A robot hand-eye camera automatic calibration device, comprising a robot body (1), characterized in that: The front side of the robot body (1) is fixedly connected to a camera body (2); the camera body (2) is externally fixedly sleeved with a housing (3); and a cleaning mechanism is provided inside the housing (3); The cleaning mechanism comprises a motor (4), the motor (4) being fixedly connected to the top of the housing (3), the top of the housing (3) being provided with a cavity 1, a dust box (5) being fixedly connected to one side of the housing (3), a cavity 2 being connected to the bottom of the housing (3) and one side of the dust box (5), two reciprocating screws (6) being provided inside the cavity 1, the top end of the reciprocating screw (6) close to the motor (4) being fixedly connected to the output shaft of the motor (4) and the bottom end of which being connected to the inner wall of the bottom of the housing (3), the bottom end of the reciprocating screw (6) away from the motor (4) extending into the interior of the cavity 2, the two reciprocating screws (6) being located On both sides of the camera body (2), the outsides of the two reciprocating screws (6) are both sleeved with sliding seats (7), the sliding seats (7) are connected to the reciprocating screws (6) via a ball nut pair, the insides of the two sliding seats (7) are fixedly connected with cleaning pads (8), the cleaning pads (8) are in contact with the lenses of the camera body (2), the dust box (5) is provided with fan blades (9), the top inner wall of the housing (3) is fixedly connected with a dust cover (10), one side of the dust cover (10) is fixedly connected with a connecting pipe (11), one end of the connecting pipe (11) extends into the inside of the dust box (5), and the connecting pipe (11) is L-shaped; A fixing plate (15) is fixedly connected to the inside of the dust box (5), the fixing plate (15) is located at the bottom of the connecting plate (13) and the fixing plate (15) is in contact with the cover plate (12), and a rotating shaft (16) is fixedly connected to the bottom of the fan blade (9), and the bottom end of the rotating shaft (16) extends to the outside of the bottom of the fixing plate (15); The two reciprocating screws (6) are both externally fixedly sleeved with a sprocket wheel (17), the sprocket wheel (17) is located inside the cavity (1), the two sprocket wheels (17) are externally sleeved with a chain wheel (18), and the two sprocket wheels (17) are connected by driving via the chain wheel (18); The reciprocating screw (6) far from the motor (4) and the outside of the rotating shaft (16) are both fixedly sleeved with a sprocket (19), the sprocket (19) is located inside the cavity (2), and the two sprockets (19) are sleeved with a chain (20) outside, and the two sprockets (19) are driven and connected by the chain (20).

2. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: A cover plate (12) is provided on one side of the dust box (5), the cover plate (12) is connected to the dust box (5) via a hinge, a connecting plate (13) is fixedly connected inside the dust box (5), the connecting plate (13) is located on the top of the fan blade (9) and the connecting plate (13) is in contact with the cover plate (12), and a filter screen (14) is fixedly embedded inside the connecting plate (13).

3. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: The outer sides of the two sliding seats (7) are fixedly connected to limit blocks (21), and the inner walls on both sides of the housing (3) are provided with limit grooves, and the limit blocks (21) are embedded in the limit grooves and match the limit grooves.

4. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: The bottom of the dust box (5) is provided with a ventilation hole.

5. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: A support plate (22) is fixedly connected to one side of the housing (3); the support plate (22) is located on the top of the dust box (5); and the connecting pipe (11) passes through the support plate (22).

6. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: The reciprocating screw (6) is connected to the housing (3) via a bearing.

7. The robot hand-eye camera automatic calibration device according to claim 1, characterized in that: The rotating shaft 1 (16) is connected to the fixed plate (15) via a bearing.

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