Visual calibration tool for robot trajectory tracking
By setting multiple non-collinear markers and a flexible installation structure on the vision calibration fixture, the problems of insufficient flexibility and accuracy of existing calibration fixtures are solved, enabling precise calibration of robot arms and image acquisition equipment, adapting to complex scenarios and improving calibration efficiency.
Patent Information
- Application Number
- CN202520508590.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-21
- Publication Date
- 2026-01-27
- Estimated Expiration
- 2035-03-21
AI Technical Summary
Existing vision calibration fixtures lack flexibility and accuracy in robot trajectory tracking, failing to meet the needs of practical applications.
A vision calibration fixture is designed, comprising a fixture body, with first and second calibration bodies set on the mounting surface, each having multiple non-collinear markers for calibration with a robot arm and an image acquisition device, and an extension and mating hole providing flexible mounting positions, reducing weight and improving light transmission.
It improves the calibration accuracy and flexibility of robotic arms and image acquisition equipment, adapts to complex scenarios, simplifies the installation process, and ensures the integrity and accuracy of image acquisition.
Smart Images
Figure CN223834560U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of calibration tooling technology, and more specifically, to a vision calibration tooling for robot trajectory tracking. Background Technology
[0002] In machine vision-based trajectory tracking, a handheld handle that is exposed within the image acquisition device's field of view is typically required to ensure that the sensing components on the handle can be effectively tracked. Visual calibration is a crucial step in robot trajectory tracking systems, determining whether the robot can accurately understand and execute the intended trajectory task. However, existing visual calibration fixtures usually only provide fixed-position markers, limiting their flexibility and accuracy in practical applications. Utility Model Content
[0003] This invention provides a vision calibration fixture for robot trajectory tracking, which can overcome some or all of the defects of the prior art.
[0004] According to the present invention, a visual calibration fixture for robot trajectory tracking includes a fixture body with a mounting surface. The mounting surface is provided with a first calibration body and a second calibration body. The first calibration body has at least three non-collinear first markers, and the second calibration body has at least three non-collinear second markers. The first markers are used for calibration with the end of a robot arm, and the second markers are used for calibration with an image acquisition device.
[0005] This disclosure discloses a visual calibration fixture for robot trajectory tracking. By simultaneously setting a first calibration body and a second calibration body on the mounting surface of the fixture body, and each having multiple non-collinear markers, the dual calibration fixture achieves precise calibration of the robot arm end and the image acquisition device, thereby improving the accuracy of the calibration.
[0006] Understandably, the main body of the tooling serves as the supporting structure for the entire vision calibration tooling. Its mounting surface provides a stable mounting position for the first and second calibration objects, ensuring that the relative positions of each marker remain unchanged during the calibration process, thereby improving the accuracy of the calibration.
[0007] Preferably, a plurality of first mounting holes are formed at the mounting surface for mounting the first marker and the mounting member. The mounting member has two first extensions extending along the length direction of the plane and two second extensions extending along the width direction of the plane, wherein any one of the second extensions protrudes from the mounting surface.
[0008] The second extension extends out of the mounting surface, and a second marker can be installed at the second extension extending out of the mounting surface as a positioning reference. This avoids obstructing the second marker during the calibration process, facilitates image acquisition by the image acquisition device, and further improves the calibration accuracy.
[0009] Preferably, each of the two first extensions and the two second extensions is provided with a plurality of mating holes for mounting the second marker.
[0010] By providing mating holes at both the first and second extensions of the mounting component, more installation position options are available for the second marker. Since the extensions extend along different directions of the plane, the second marker can be distributed over a wider spatial range. This allows for flexible adjustment of the second marker's installation layout according to different calibration requirements and the installation position of the image acquisition equipment, thereby enabling better calibration with the image acquisition equipment.
[0011] Preferably, the tooling body has a mating surface that is perpendicular to the mounting surface, and a plurality of second mounting holes for the first marker are formed at the mating surface.
[0012] By setting the mating surface and the second mounting hole, the first marker can be flexibly installed in the mating surface, adapting to robot arms and working environments with different work requirements. This improves the applicability of the vision calibration fixture in various complex scenarios. Operators can select the installation position and layout of the first marker according to the actual situation to obtain the best calibration effect.
[0013] Preferably, both the mounting surface and the mating surface have hollowed-out sections.
[0014] By creating cutouts at the mounting and mating surfaces, the overall weight of the tooling body is effectively reduced, and better lighting is provided during the calibration process.
[0015] Preferably, the first marker includes a calibration rod located at the first mounting hole or the second mounting hole, and a nut located at the bottom wall of the mounting surface or the bottom wall of the mating surface and engaging with the calibration rod.
[0016] The use of a calibration rod and nut simplifies the installation and removal of the first marker. Operators simply insert the calibration rod into the corresponding first or second mounting hole and tighten the nut to complete the installation. When the first marker needs to be replaced or adjusted, simply loosen the nut to remove the calibration rod, making it convenient, quick, and efficient.
[0017] Preferably, the top wall of the calibration rod is needle-shaped.
[0018] The above structure enables a more accurate calibration between the robot arm and the first marker.
[0019] Preferably, the second marker is arranged in a spherical shape.
[0020] By setting the second marker in a spherical shape, the image acquisition device can clearly capture the image of the second marker from different positions and angles, avoiding the problem of the marker being partially invisible or the image being distorted due to the limitation of the observation angle, thus ensuring the integrity and accuracy of image acquisition. Attached Figure Description
[0021] Figure 1 This is a schematic diagram of the overall structure of a vision calibration fixture used for robot trajectory tracking.
[0022] Figure 2 This is a bottom-view structural diagram of a vision calibration fixture used for robot trajectory tracking.
[0023] Figure 3 This is a top view schematic diagram of a vision calibration fixture used for robot trajectory tracking. Detailed Implementation
[0024] To further understand the content of this utility model, a detailed description of the utility model is provided in conjunction with the embodiments. It should be understood that the embodiments are merely illustrative and not limiting of the utility model.
[0025] Example 1
[0026] Please see Figure 1-3 This embodiment provides a visual calibration fixture for robot trajectory tracking, which includes a fixture body 100. The fixture body 100 has a mounting surface, and a first calibration body and a second calibration body are provided on the mounting surface. The first calibration body has at least three non-collinear first markers 130, and the second calibration body has at least three non-collinear second markers 320. The first markers 130 are used for calibration with the end of the robot arm, and the second markers 320 are used for calibration with an image acquisition device.
[0027] This disclosure discloses a visual calibration fixture for robot trajectory tracking. By simultaneously setting a first calibration body and a second calibration body on the mounting surface of the fixture body 100, and each having multiple non-collinear markers, the fixture achieves precise calibration of the robot arm end and the image acquisition device, thereby improving the accuracy of the calibration.
[0028] Understandably, the main body 100 of the tooling serves as the supporting structure for the entire vision calibration tooling. Its mounting surface provides a stable mounting position for the first and second calibration objects, ensuring that the relative positions of each marker remain unchanged during the calibration process, thereby improving the accuracy of the calibration.
[0029] In this embodiment, a plurality of first mounting holes 340 are formed on the mounting surface for mounting the first marker 130 and the mounting member 120. The mounting member 120 has two first extensions extending along the length direction of the plane 110 and two second extensions extending along the width direction of the plane 110, wherein any one of the second extensions extends out of the mounting surface.
[0030] The second extension extends out of the mounting surface, and a second marker 320 can be installed at the second extension extending out of the mounting surface as a positioning reference. This avoids obstructing the second marker 320 during the calibration process, facilitates the acquisition of images by the image acquisition device, and further improves the calibration accuracy.
[0031] In this embodiment, each of the two first extensions and the two second extensions is provided with a plurality of mating holes 310 for mounting the second marker 320.
[0032] By providing mating holes 310 at both the two first extensions and two second extensions of the mounting component, more installation position options are provided for the second marker 320. Since the extensions extend along different directions of the plane 110, the second marker 320 can be distributed over a wider spatial range. This allows for flexible adjustment of the installation layout of the second marker 320 according to different calibration requirements and the installation position of the image acquisition equipment, thereby better calibrating with the image acquisition equipment.
[0033] In this embodiment, the tooling body 100 has a mating surface that is perpendicular to the mounting surface, and a plurality of second mounting holes 350 for the first marker 130 are formed at the mating surface.
[0034] By setting the mating surface and the second mounting hole 350, the first marker 130 can be flexibly installed in the mating surface, adapting to robot arms and working environments with different working requirements, improving the applicability of the vision calibration fixture in various complex scenarios. Operators can select the installation position and layout of the first marker 130 according to the actual situation to obtain the best calibration effect.
[0035] In this embodiment, both the mounting surface and the mating surface have a hollow portion 330.
[0036] By creating a hollow section 330 at the mounting surface and mating surface, the overall weight of the tooling body 100 is effectively reduced, and better lighting is provided during the calibration process.
[0037] In this embodiment, the first marker 130 includes a calibration rod 210 disposed at the first mounting hole 340 or the second mounting hole 350, and a nut 220 disposed at the bottom wall of the mounting surface or the bottom wall of the mating surface and mating with the calibration rod 210.
[0038] The use of the calibration rod 210 and nut 220 simplifies the installation and removal of the first marker 130. Operators simply insert the calibration rod 210 into the corresponding first mounting hole 340 or second mounting hole 350 and tighten the nut 220 to complete the installation. When the first marker 130 needs to be replaced or adjusted, simply loosen the nut 220 to remove the calibration rod 210, which is convenient, quick, and improves work efficiency.
[0039] In this embodiment, the top wall of the calibration rod 210 is needle-shaped.
[0040] The above structure enables a more accurate calibration between the robot arm and the first marker 130.
[0041] In this embodiment, the second marker 320 is arranged in a spherical shape.
[0042] By setting the second marker 320 in a spherical shape, the image acquisition device can clearly capture the image of the second marker 320 from different positions and angles, avoiding the problem of the marker being invisible or the image being distorted due to the limitation of the viewing angle, thus ensuring the integrity and accuracy of image acquisition.
[0043] It is readily understood that those skilled in the art can combine, split, or reorganize the embodiments provided in this application to obtain other embodiments, all of which do not exceed the protection scope of this application.
[0044] The present invention and its embodiments have been described above illustratively. This description is not restrictive, and the embodiments shown are only part of the embodiments of the present invention. The actual structure is not limited to this. Therefore, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.
Claims
1. A vision calibration fixture for robot trajectory tracking, characterized in that, The tooling body (100) has a mounting surface, and a first calibration body and a second calibration body are provided on the mounting surface. The first calibration body has at least three non-collinear first markers (130), and the second calibration body has at least three non-collinear second markers (320). The first markers (130) are used for calibration with the end of the robot arm, and the second markers (320) are used for calibration with the image acquisition device.
2. The vision calibration fixture for robot trajectory tracking according to claim 1, characterized in that: A plurality of first mounting holes (340) are formed at the mounting surface for mounting the first marker (130) and the mounting member (120). The mounting member (120) has two first extensions extending along the length direction of the plane (110) and two second extensions extending along the width direction of the plane (110), wherein any second extension extends out of the mounting surface.
3. The vision calibration fixture for robot trajectory tracking according to claim 2, characterized in that: Each of the two first extensions and the two second extensions is provided with a plurality of mating holes (310) for mounting the second marker (320).
4. The vision calibration fixture for robot trajectory tracking according to claim 1, characterized in that: The tooling body (100) has a mating surface that is perpendicular to the mounting surface, and a plurality of second mounting holes (350) for the first marker (130) are formed at the mating surface.
5. The vision calibration fixture for robot trajectory tracking according to claim 4, characterized in that: Both the mounting surface and the mating surface have cutouts (330).
6. The vision calibration fixture for robot trajectory tracking according to claim 1, characterized in that: The first marker (130) includes a calibration rod (210) located at the first mounting hole (340) or the second mounting hole (350), and a nut (220) located at the bottom wall of the mounting surface or the bottom wall of the mating surface and mating with the calibration rod (210).
7. The vision calibration fixture for robot trajectory tracking according to claim 6, characterized in that: The top wall of the calibration rod (210) is needle-shaped.
8. The vision calibration fixture for robot trajectory tracking according to claim 2, characterized in that: The second marker (320) is spherically shaped.