Line structured light vision sensor calibration auxiliary equipment

Abstract

The utility model discloses a line structure light vision sensor calibration auxiliary device, and relates to the light vision auxiliary device technology field, the line structure light vision sensor calibration auxiliary device comprises a device main body, the outer wall of the device main body is provided with a mechanical arm, one end of the mechanical arm is fixedly connected with a connecting rod, and the outer wall of the connecting rod is detachably connected with a mounting rod. When the linear structure light vision sensor is used for reducing calibration based on the plane chessboard, in order to improve the auxiliary limiting effect of the plane chessboard during placement during calibration, the plane chessboard can be placed below a laser body according to the position of a positioning rod, a servo motor is started, and through rotation of a swing rod, the laser body is driven to rotate; when the plane chessboard is calibrated, the sliding rod is driven to slide along the limiting groove and the inner wall of the sliding groove, meanwhile, the clamping rod is driven to slide along the inner wall of the sliding groove, and under the action of the positioning rod, the clamping rod is driven to conduct clamping and limiting motion on the two sides of the plane chessboard, and the effect of improving limiting of the plane chessboard during calibration is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of optical vision auxiliary equipment, in particular to a linear structured light vision sensor calibration auxiliary equipment. Background Art

[0002] Line structured light vision measurement technology has the characteristics of high measurement accuracy, large amount of information, high sensitivity, good real-time performance, and strong anti-interference ability. It is widely used in industrial measurement, three-dimensional reconstruction, reverse engineering and other fields. At present, the traditional calibration method of line structured light sensors mainly adopts model calibration method, which mainly includes target calibration method, differential method, vanishing point method, mechanical adjustment method, filament scattering method, cross ratio invariant method, etc.

[0003] For example, announcement number CN103884271B discloses a direct calibration method for a line structured light vision sensor, comprising the following steps: establishing a target formed by a standard gauge block and a three-dimensional precision translation stage; projecting a structured light plane onto the target by a line structured light vision sensor to form feature points on the target; establishing a spatial coordinate system on the target; collecting a target image and extracting feature points; establishing a lookup index table including establishing a direct mapping relationship between the image coordinates of the feature points and their spatial coordinate system coordinates; calibrating the line structured light vision sensor: based on the image coordinates of the point to be calibrated, searching in the lookup index table to directly obtain or using a least squares fitting algorithm to obtain the spatial coordinate system coordinates of the point, thereby achieving direct calibration of the line structured light vision sensor; the invention is aimed at line structured light vision sensors in the field of small field of view and high-precision measurement applications, and the calibration method is simple and direct, easy to implement, and has high accuracy, which can meet measurement needs.

[0004] However, although this type of linear structured light vision sensor calibration auxiliary equipment can calibrate objects well when in use, when placing and calibrating a plane chessboard, the auxiliary placement limiting effect of the plane chessboard is not high, so that when the plane chessboard is placed, the calibration light will be offset due to the position offset of the plane chessboard, thereby reducing the calibration accuracy of the object.

[0005] Therefore, in view of this, the existing structural deficiencies are studied and improved, and a linear structured light vision sensor calibration auxiliary equipment is proposed. Utility Model Content

[0006] The purpose of the utility model is to provide a linear structured light vision sensor calibration auxiliary device to solve the problem of low auxiliary placement limiting effect for a plane chessboard proposed in the above background technology.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a linear structured light visual sensor calibration auxiliary device, comprising a device body, the outer wall of the device body is provided with a mechanical arm, one end of the mechanical arm is fixedly connected to a connecting rod, the outer wall of the connecting rod is detachably connected to a mounting rod, a CDD camera is installed at the bottom of the mounting rod, a laser body located on one side of the CDD camera is installed at the bottom of the mounting rod, a plane chessboard located below the laser body is placed on the outer wall of the device body, a servo motor is fixedly connected to the bottom of the device body, an output end of the servo motor is fixedly connected to a swing rod rotatably connected to the bottom of the device body, the outer wall of the swing rod is slidably connected to a sliding rod slidably connected to the outer wall of the device body, a limiting groove is provided at the connection position between the outer wall of the swing rod and the sliding rod, a sliding groove is provided at the connection position between the outer wall of the device body and the sliding rod, a clamping rod is fixedly connected to the outer wall of the sliding rod, and a positioning rod that fits the side wall of the plane chessboard is fixedly connected to the outer wall of the device body.

[0008] Furthermore, a mounting groove is provided at the connection position between the outer wall of the connecting rod and the mounting rod, a nut is provided on the outer wall of the connecting rod, a bolt slidably connected to the outer wall of the mounting rod is threadedly connected to the inner wall of the nut, and a slot is provided at the connection position between the outer wall of the mounting rod and the bolt.

[0009] Furthermore, the sliding rod slides synchronously along the inner walls of the limiting groove and the sliding groove.

[0010] Furthermore, the clamping rods are symmetrically arranged on both sides of the sliding rod, and the outer wall profile of the connecting portion between the clamping rod and the sliding rod is arranged in a "U" shape.

[0011] Furthermore, the positioning rod is arranged on the movement track of the plane chessboard, and the heights of the positioning rod and the clamping rod are both lower than the height of the plane chessboard.

[0012] Furthermore, the inner wall profile of the mounting groove is adapted to match the outer wall profile of the mounting rod.

[0013] Furthermore, the inner wall profile of the slot is larger than the outer wall profile of the bolt.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] 1. The utility model sets a clamping rod. When the plane chessboard is used for calibration reduction based on the line structured light vision sensor, in order to improve the auxiliary limiting effect of the plane chessboard when it is placed during calibration, the plane chessboard can be placed under the laser body according to the position of the positioning rod, and the servo motor is turned on to drive the sliding rod to slide along the inner wall of the limiting groove and the sliding groove through the rotation of the swing rod. At the same time, the clamping rod is driven to slide along the inner wall of the sliding groove, and under the action of the positioning rod, the clamping rod is driven to clamp and limit the two sides of the plane chessboard, thereby improving the limiting effect of the plane chessboard during calibration;

[0016] 2. The utility model sets a card slot. When used for calibration through an optical vision sensor, in order to improve the convenience of snap-fitting and installing the CDD camera on the robotic arm, the mounting rod can be inserted into the outer wall of the connecting rod through the connection of the mounting slot, and the bolt is rotated through the limiting effect of the nut to make the bolt slide into the inner wall of the card slot, thereby playing a role in snap-fitting and fixing the mounting rod, thereby achieving the effect of convenient snap-fitting and installing the CDD camera. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of the auxiliary equipment;

[0018] Figure 2 It is a schematic diagram of the three-dimensional structure of the auxiliary equipment in another direction;

[0019] Figure 3 It is a schematic diagram of the connection structure between the swing rod and the sliding rod;

[0020] Figure 4 This is a schematic diagram of the bolt and slot position distribution structure.

[0021] In the figure: 1. Equipment body; 2. Robotic arm; 3. Connecting rod; 4. Mounting rod; 5. CDD camera; 6. Laser body; 7. Plane chessboard; 8. Servo motor; 9. Swing rod; 10. Sliding rod; 11. Limiting groove; 12. Slide groove; 13. Clamping rod; 14. Mounting groove; 15. Nut; 16. Bolt; 17. Slot; 18. Positioning rod. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] Embodiment 1: Figure 1-Figure 3As shown, a linear structured light visual sensor calibration auxiliary device includes a device body 1, a mechanical arm 2 is arranged on the outer wall of the device body 1, one end of the mechanical arm 2 is fixedly connected to a connecting rod 3, the outer wall of the connecting rod 3 is detachably connected to a mounting rod 4, a CDD camera 5 is installed at the bottom of the mounting rod 4, a laser body 6 located on one side of the CDD camera 5 is installed at the bottom of the mounting rod 4, a plane chessboard 7 located below the laser body 6 is placed on the outer wall of the device body 1, a servo motor 8 is fixedly connected to the bottom of the device body 1, an output end of the servo motor 8 is fixedly connected to a swing rod 9 rotatably connected to the bottom of the device body 1, an outer wall of the swing rod 9 is slidably connected to a sliding rod 10 slidably connected to the outer wall of the device body 1, a limiting groove 11 is provided at the connection position between the outer wall of the swing rod 9 and the sliding rod 10, a sliding groove 12 is provided at the connection position between the outer wall of the device body 1 and the sliding rod 10, a clamping rod 13 is fixedly connected to the outer wall of the sliding rod 10, and a positioning rod 18 fitted with the side wall of the plane chessboard 7 is fixedly connected to the outer wall of the device body 1.

[0024] Furthermore, the sliding rod 10 slides synchronously along the inner walls of the limiting groove 11 and the sliding groove 12. The sliding rod 10 forms a sliding structure through the swing rod 9 and the limiting groove 11 and the sliding groove 12, which is beneficial to the rotation of the swing rod 9, driving the sliding rod 10 to slide synchronously along the inner walls of the limiting groove 11 and the sliding groove 12, thereby driving the clamping rod 13 to slide back and forth.

[0025] Furthermore, the clamping rods 13 are symmetrically arranged on both sides of the sliding rod 10, and the outer wall profile of the connection part between the clamping rods 13 and the sliding rod 10 is arranged in a "U" shape, which is beneficial to the clamping rods 13 being symmetrically arranged on both sides of the sliding rod 10, thereby playing a role in effectively limiting the two sides of the plane chessboard 7.

[0026] Furthermore, the positioning rod 18 is arranged on the movement trajectory of the plane chessboard 7, and the heights of the positioning rod 18 and the clamping rod 13 are both lower than the height of the plane chessboard 7, which is beneficial for setting the positioning rod 18 on the movement trajectory of the plane chessboard 7, thereby improving the limit position of the plane chessboard 7 during calibration.

[0027] Embodiment 2: Figure 1 , Figure 2 and Figure 4As shown, a linear structured light vision sensor calibration auxiliary device proposed by the utility model, compared with Example 1, as another implementation mode of the utility model, the connecting portion of the outer wall of the connecting rod 3 and the mounting rod 4 is provided with a mounting groove 14, the outer wall of the connecting rod 3 is provided with a nut 15, the inner wall of the nut 15 is threadedly connected with a bolt 16 which is slidably connected to the outer wall of the mounting rod 4, and the connecting portion of the outer wall of the mounting rod 4 and the bolt 16 is provided with a card slot 17. When working, by setting the card slot 17, it is beneficial when the optical vision sensor is used for calibration. In order to improve the convenience of the CDD camera 5 being snapped and installed on the mechanical arm 2, the mounting rod 4 can be inserted into the outer wall of the connecting rod 3 through the connection of the mounting groove 14, and the bolt 16 is rotated to pass through the limiting effect of the nut 15, so that the bolt 16 slides into the inner wall of the card slot 17, which plays a role in snapping and fixing the mounting rod 4, thereby achieving the effect of convenient snap-in installation of the CDD camera 5.

[0028] Furthermore, the inner wall profile of the mounting groove 14 is adapted to the outer wall profile of the mounting rod 4 , which is beneficial for pre-positioning and installing the mounting rod 4 on the robot arm 2 .

[0029] Furthermore, the inner wall contour of the slot 17 is larger than the outer wall contour of the bolt 16, and the mounting rod 4 forms a snap-fit ​​structure with the connecting rod 3 through the bolt 16 and the slot 17, which is conducive to the bolt 16 sliding along the inner wall of the slot 17, driving the mounting rod 4 and the connecting rod 3 to snap-fit ​​and fix, thereby achieving the effect of convenient snap-fit ​​installation of the CDD camera 5.

[0030] Working principle: When using this kind of linear structured light vision sensor calibration auxiliary equipment, first, when the linear structured light vision sensor is reduced for calibration based on the plane chessboard 7, in order to improve the auxiliary limiting effect of the plane chessboard 7 when it is placed during calibration, the plane chessboard 7 can be placed under the laser body 6 according to the position of the positioning rod 18, and the servo motor 8 is turned on to drive the sliding rod 10 to slide along the inner walls of the limiting groove 11 and the slide groove 12 through the rotation of the swing rod 9. At the same time, the clamping rod 13 is driven to slide along the inner wall of the slide groove 12, and under the action of the positioning rod 18, the clamping rod 13 is driven to clamp and limit the two sides of the plane chessboard 7, thereby improving the limiting effect of the plane chessboard 7 during calibration.

[0031] Finally, when calibrated by the optical vision sensor, in order to improve the convenience of the CDD camera 5 in the snap-in installation on the robot arm 2, the mounting rod 4 can be inserted into the outer wall of the connecting rod 3 through the connection of the mounting groove 14, and the bolt 16 can be rotated through the limiting effect of the nut 15 to make the bolt 16 slide into the inner wall of the slot 17, thereby playing the role of snap-in fixing the mounting rod 4, thereby achieving the effect of convenient snap-in installation of the CDD camera 5.

[0032] This is the working principle of this linear structured light vision sensor calibration auxiliary equipment.

[0033] The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. A linear structured light vision sensor calibration auxiliary device, comprising a device body (1), characterized in that: The outer wall of the device body (1) is provided with a mechanical arm (2), one end of the mechanical arm (2) is fixedly connected to a connecting rod (3), the outer wall of the connecting rod (3) is detachably connected to a mounting rod (4), a CDD camera (5) is mounted at the bottom of the mounting rod (4), a laser body (6) located on one side of the CDD camera (5) is mounted at the bottom of the mounting rod (4), a plane chessboard (7) located below the laser body (6) is placed on the outer wall of the device body (1), a servo motor (8) is fixedly connected to the bottom of the device body (1), and the output of the servo motor (8) is The end is fixedly connected to a swing rod (9) rotatably connected to the bottom of the device body (1); the outer wall of the swing rod (9) is slidably connected to a sliding rod (10) slidably connected to the outer wall of the device body (1); a limiting groove (11) is provided at the connection position between the outer wall of the swing rod (9) and the sliding rod (10); a sliding groove (12) is provided at the connection position between the outer wall of the device body (1) and the sliding rod (10); the outer wall of the sliding rod (10) is fixedly connected to a clamping rod (13); and the outer wall of the device body (1) is fixedly connected to a positioning rod (18) that fits the side wall of the plane chessboard (7).

2. The linear structured light vision sensor calibration auxiliary device according to claim 1, characterized in that: A mounting groove (14) is provided at a connection position between the outer wall of the connecting rod (3) and the mounting rod (4); a nut (15) is provided on the outer wall of the connecting rod (3); a bolt (16) is threadedly connected to the inner wall of the nut (15) and is slidably connected to the outer wall of the mounting rod (4); and a clamping groove (17) is provided at a connection position between the outer wall of the mounting rod (4) and the bolt (16).

3. The linear structured light vision sensor calibration auxiliary device according to claim 1, characterized in that: The sliding rod (10) slides synchronously along the inner walls of the limiting groove (11) and the sliding groove (12).

4. The linear structured light vision sensor calibration auxiliary device according to claim 1, characterized in that: The clamping rod (13) is symmetrically arranged on both sides of the sliding rod (10), and the outer wall profile of the connection part between the clamping rod (13) and the sliding rod (10) is arranged in a "U" shape.

5. The linear structured light vision sensor calibration auxiliary device according to claim 1, characterized in that: The positioning rod (18) is arranged on the movement track of the plane chessboard (7), and the heights of the positioning rod (18) and the clamping rod (13) are both lower than the height of the plane chessboard (7).

6. The linear structured light vision sensor calibration auxiliary device according to claim 2, characterized in that: The inner wall profile of the installation groove (14) is adapted to the outer wall profile of the installation rod (4).

7. The linear structured light vision sensor calibration auxiliary device according to claim 2, characterized in that: The inner wall profile of the clamping groove (17) is larger than the outer wall profile of the bolt (16).

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