Robot sensor calibration device

Abstract

The utility model discloses a robot sensor calibration device, which relates to the technical field of material detection, and comprises a support column I. An electric telescopic column is fixedly mounted on one side of the support column I. A connecting rod is fixedly mounted at the bottom of the telescopic end of the electric telescopic column, and a motor I is fixedly mounted at the bottom of the connecting rod. The rotating end of the first motor is fixedly connected with a rotating rod, and a position adjusting frame is fixedly installed at the bottom of the rotating rod. According to the utility model, goods are conveyed through the belt, the calibration main body scans the goods to judge the position and the placing angle of the goods, then a signal is sent to the control panel, the control panel controls the motor II and the electric telescopic column to operate, and the position and the angle of the goods are corrected, so that the problem that the goods block a goods outlet is solved; and when goods which do not belong to the assembly line appear on the belt, the buzzer can remind workers, so that the problem of blockage caused by the fact that goods with different sizes appear on the belt is solved, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material detection, in particular to a robot sensor calibration device. Background Art

[0002] With the rapid development of artificial intelligence and automation technologies, accurate data collection has become a core requirement for technological applications. Sensors are crucial components for robots to perceive their external environment. The accuracy and efficiency of their calibration technology directly impacts the performance and stability of robots. In fields such as autonomous driving, robotics, and industrial automation, equipment requires high-precision data input to ensure system stability and safety. Traditional calibration methods often require individual operation of each sensor, which is time-consuming and prone to errors. Therefore, the development of efficient and accurate sensor calibration devices has become an inevitable trend in industry development. The development of robot sensor calibration devices is multifaceted, driven by technological advancements, industry application needs, and the promotion of innovative technologies. In the future, with the continuous advancement of technology and the expansion of application areas, robot sensor calibration devices will usher in even broader development prospects.

[0003] When general assembly line cargo transportation equipment transports goods of the same size, the transport belt will compress the shipping space due to the inconsistent position and angle of the goods during shipment, causing the shipping port to be blocked. Manual unblocking is time-consuming and labor-intensive, which is very inconvenient and reduces work efficiency. Utility Model Content

[0004] The purpose of the present invention is to provide a robot sensor calibration device to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the utility model provides a robot sensor calibration device, including pillar one, an electric telescopic column is fixedly installed on one side of the pillar one, a connecting rod is fixedly installed on the bottom of the telescopic end of the electric telescopic column, a motor one is fixedly installed on the bottom of the connecting rod, the rotating end of the motor one is fixedly connected to a rotating rod, and a positioning frame is fixedly installed on the bottom of the rotating rod.

[0006] Furthermore, a base plate is fixedly installed at the bottom of pillar one, pillar two is fixedly installed on the side of the base plate close to pillar one, a calibration frame is fixedly installed on the top of pillar two, a strip opening is opened on the calibration frame, and a calibration body is fixedly installed in the strip opening.

[0007] Furthermore, four feet are fixedly installed on the top of the base plate, a support column is fixedly installed on one side of the foot, motor 2 is fixedly installed on the top of the support column, the rotating end of motor 2 is fixedly connected to a rotating shaft, a protective shell is fixedly installed on the top of the foot, a circular opening is provided on the protective shell, the rotating shaft is the same size as the circular opening, a pulley is fixedly installed on one side of the rotating shaft, a belt is provided on one side of the protective shell, the protective shell cover is provided on the side edge of the belt, and the belt is provided on two pulleys.

[0008] Furthermore, a shipping port is fixedly installed on one side of the bottom plate close to the first pillar.

[0009] Furthermore, a console is fixedly mounted on one side of the base plate close to the second pillar, and a control panel is fixedly mounted on one side of the console.

[0010] Furthermore, a buzzer is fixedly installed on one side of the console.

[0011] Compared with the existing technology, the beneficial effects of the present invention are: the goods are transported by the belt, the calibration body scans the goods to determine the position and placement angle of the goods, and then sends a signal to the control panel. The control panel controls the operation of motor 2 and the electric telescopic column to correct the position and angle of the goods, solving the problem of goods being blocked at the delivery port. When goods that do not belong to this assembly line appear on the belt, the buzzer will remind the staff, solving the problem of blockage caused by goods of inconsistent sizes on the belt, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the overall structure diagram of the robot sensor calibration device;

[0013] Figure 2 This is a schematic diagram of the installation of the adjustment frame;

[0014] Figure 3 This is a schematic diagram of the belt installation;

[0015] Figure 4 This is a schematic diagram of the pulley installation;

[0016] Figure 5 This is a schematic diagram of the goods not being calibrated;

[0017] Figure 6 This is a schematic diagram of the goods after correction.

[0018] In the figure: 1. Pillar 1; 2. Electric telescopic column; 3. Connecting rod; 4. Motor 1; 5. Positioning frame; 6. Base plate; 7. Pillar 2; 8. Calibration frame; 9. Calibration body; 10. Base; 11. Support column; 12. Motor 2; 13. Rotating shaft; 14. Protective shell; 15. Pulley; 16. Belt; 17. Shipping port; 18. Control console; 19. Control panel; 20. Buzzer. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] See also Figure 1-6 , the utility model provides a robot sensor calibration device:

[0021] See Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 As shown, a robot sensor calibration device includes a pillar 1, an electric telescopic pillar 2 is fixedly installed on one side of the pillar 1, a connecting rod 3 is fixedly installed on the bottom of the telescopic end of the electric telescopic pillar 2, a motor 4 is fixedly installed on the bottom of the connecting rod 3, the rotating end of the motor 4 is fixedly connected to a rotating rod, and an adjustment frame 5 is fixedly installed on the bottom of the rotating rod.

[0022] The electric telescopic column 2 can be extended and retracted, and the motor 1 4 can rotate the rotating rod, thereby driving the adjustment frame 5 to rotate.

[0023] Figure 5 In order to see it clearly, the uncorrected goods are not attached to the adjustment frame 5. The goods actually used should be attached to the adjustment frame 5.

[0024] See Figure 1 A base plate 6 is fixedly installed at the bottom of the pillar 1, a pillar 2 7 is fixedly installed on the side of the base plate 6 close to the pillar 1, a calibration frame 8 is fixedly installed on the top of the pillar 2 7, a strip opening is opened on the calibration frame 8, and a calibration body 9 is fixedly installed in the strip opening.

[0025] Calibration frame 8 secures calibration unit 9, which includes a CCD camera. Within the calibration device, the CCD camera primarily captures the calibration pattern or object and acquires image data. By comparing and analyzing this image data, internal and external camera parameters, such as focal length, distortion coefficients, rotation matrix, and translation vector, can be calculated. This system offers high resolution, high sensitivity, and excellent image stability.

[0026] The CCD (charge-coupled device) is the core photosensitive element of a camera. It converts incident light into electrical signals. Each pixel on the sensor generates a corresponding charge upon receiving light. This charge is then converted into an electrical signal, which is then transmitted and processed by circuitry. The coordinated operation of the entire CCD sensor captures complete image information. This image information exists as an electrical signal and can be further processed, stored, or transmitted. When the calibration unit 9 is operating, light passes through the camera lens and is projected onto the CCD sensor. Each pixel on the sensor captures the corresponding light information and converts it into an electrical signal. These electrical signals are then processed by the camera's internal circuitry to form a complete image.

[0027] The calibration body 9 contains a CCD camera in order to achieve accurate position and angle measurement of the object. Camera calibration is the process of obtaining camera model parameters. These parameters describe the internal geometry of the image capture process and are the basis for subsequent position and angle measurement. Qualified object positions and angles are used for calibration. By taking an image of the calibration object and extracting feature points on the calibration object using an image processing algorithm, the internal and external parameters of the camera are calculated based on the image coordinates of the feature points and the known three-dimensional coordinates, and the camera's focal length, principal point position, distortion coefficient and other parameters are obtained. A camera imaging geometric model is established, and three-dimensional reconstruction is performed using the parameters obtained by camera calibration and the feature points extracted by image processing to obtain the position information of the object to be measured in three-dimensional space. Based on the position information obtained by three-dimensional reconstruction, the specific position of the object to be measured in three-dimensional space can be determined. By comparing the position and angle of qualified objects, the position offset and position of the object relative to a reference point can be obtained.

[0028] See Figure 1 、 Figure 3 、 Figure 4, four feet 10 are fixedly installed on the top of the base plate 6, and a support column 11 is fixedly installed on one side of the foot 10. A motor 2 12 is fixedly installed on the top of the support column 11, and the rotating end of the motor 2 12 is fixedly connected to a rotating shaft 13. A protective shell 14 is fixedly installed on the top of the foot 10, and a circular opening is opened on the protective shell 14. The rotating shaft 13 is the same size as the circular opening, and a pulley 15 is fixedly installed on one side of the rotating shaft 13. A belt 16 is provided on one side of the protective shell 14, and the protective shell 14 is covered on the side edge of the belt 16, and the belt 16 is sleeved on two pulleys 15.

[0029] The second motor 12 can drive the rotating shaft 13 to rotate, so that the pulley 15 rotates, thereby driving the belt 16 to rotate and transport the goods. The protective shell 14 can protect the pulley 15 and prevent the pulley 15 from being damaged due to bumps and other reasons, thereby affecting normal operation.

[0030] See Figure 2 A shipping port 17 is fixedly installed on one side of the bottom plate 6 close to the pillar 1.

[0031] Four shipping channels are provided on the shipping port 17, and each channel is the same size as the goods.

[0032] See Figure 1 A console 18 is fixedly mounted on one side of the base plate 6 close to the second pillar 7 , and a control panel 19 is fixedly mounted on one side of the console 18 .

[0033] The control panel 19 is connected to the electric telescopic column 2, motor 1 4, calibration body 9, motor 2 12, and buzzer 20 for signal connection, so as to facilitate control.

[0034] See Figure 1 A buzzer 20 is fixedly installed on one side of the console 18.

[0035] When goods that do not belong to this production line appear on the belt 16, the buzzer 20 will receive a signal from the calibration body 9 and then start to operate to remind the staff.

[0036] Working principle: When the goods are transported to the belt 16 by the outside, the staff turns on the robot sensor calibration device through the control panel 19. At this time, the calibration body 9 starts to operate, and the motor 2 12 starts to drive the shaft 13 to rotate, so that the pulley 15 rotates, thereby driving the belt 16 to rotate, so that the goods begin to follow the operation of the belt 16 and move toward the delivery port 17. When the goods pass through the calibration body 9, the calibration body 9 scans the goods, determines the position and placement angle of the goods, and then sends a signal to the control panel 19. The control panel 19 controls the electric telescopic column 2 and Motor 14 runs to extend and retract the electric telescopic column 2, and the positioning frame 5 comes to the unqualified cargo area. Then, the motor 14 controls the rotation of the positioning frame 5 to adjust the entrance direction of the positioning frame 5 and put the cargo into the positioning frame 5. Then, the motor 14 rotates to rotate the positioning frame 5 and adjust the angle of the cargo. Then, the control panel 19 controls the electric telescopic column 2 to align the cargo with the delivery channel of the delivery port 17 for delivery. When cargo that does not belong to this assembly line appears on the belt 16, the buzzer 20 receives a signal from the calibration body 9 and starts to operate to remind the staff.

Claims

1. A robot sensor calibration device, characterized in that: The invention comprises a support column (1), wherein an electric telescopic column (2) is fixedly mounted on one side of the support column (1), a connecting rod (3) is fixedly mounted on the bottom of the telescopic end of the electric telescopic column (2), a motor (4) is fixedly mounted on the bottom of the connecting rod (3), a rotating rod is fixedly connected to the rotating end of the motor (4), and a positioning frame (5) is fixedly mounted on the bottom of the rotating rod.

2. The robot sensor calibration device according to claim 1, wherein: A bottom plate (6) is fixedly mounted on the bottom of the pillar one (1), a pillar two (7) is fixedly mounted on the side of the bottom plate (6) close to the pillar one (1), a calibration frame (8) is fixedly mounted on the top of the pillar two (7), a strip-shaped opening is provided on the calibration frame (8), and a calibration body (9) is fixedly mounted in the strip-shaped opening.

3. The robot sensor calibration device according to claim 2, wherein: Four base feet (10) are fixedly mounted on the top of the base plate (6), a support column (11) is fixedly mounted on one side of the base foot (10), a second motor (12) is fixedly mounted on the top of the support column (11), a rotating end of the second motor (12) is fixedly connected to a rotating shaft (13), a protective shell (14) is fixedly mounted on the top of the base foot (10), a circular opening is opened on the protective shell (14), the rotating shaft (13) and the circular opening are the same size, a pulley (15) is fixedly mounted on one side of the rotating shaft (13), a belt (16) is provided on one side of the protective shell (14), the protective shell (14) is covered on the side edge of the belt (16), and the belt (16) is sleeved on two pulleys (15).

4. The robot sensor calibration device according to claim 3, wherein: A delivery port (17) is fixedly mounted on one side of the bottom plate (6) close to the first pillar (1).

5. The robot sensor calibration device according to claim 4, characterized in that: A console (18) is fixedly mounted on one side of the base plate (6) close to the second pillar (7), and a control panel (19) is fixedly mounted on one side of the console (18).

6. The robot sensor calibration device according to claim 5, wherein: A buzzer (20) is fixedly mounted on one side of the console (18).

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