阅读说明：本技术 一种用于相机内参标定与机械臂手眼标定的标定板装置 (Calibration plate device for camera internal parameter calibration and mechanical arm hand-eye calibration ) 是由 战强 邹君一 于 2021-07-02 设计创作，主要内容包括：本发明公开了一种用于相机内参标定与机械臂手眼标定的标定板装置。用于相机内参标定与机械臂手眼标定的标定板装置包括标定板、支架。所述标定板粘贴一张黑白相间的矩形构成的棋盘图,承担着标定工作中被拍摄物体的功能。所述支架负责标定板装置与机械臂末端或平面的固连,并能够调节标定板的位姿。该标定板装置能用于相机内参标定、眼在手上手眼标定、眼在手外手眼标定等工作,功能丰富；法兰底盘能与UR机械臂、YUMI机械臂等多款机械臂末端法兰相配,通用性高；整个装置结构简洁、操作方便,体积小,制造成本低,应用范围广泛。(The invention discloses a calibration plate device for camera internal reference calibration and mechanical arm hand-eye calibration. The calibration plate device for camera internal reference calibration and mechanical arm hand-eye calibration comprises a calibration plate and a support. The calibration plate is pasted with a chessboard pattern formed by alternate black and white rectangles and bears the function of the shot object in the calibration work. The support is responsible for the fixed connection of calibration plate device and arm end or plane to can adjust the position appearance of calibration plate. The calibration plate device can be used for the work of camera internal reference calibration, eye-on-hand and eye calibration, eye-outside-hand and eye calibration and the like, and has rich functions; the flange chassis can be matched with flanges at the tail ends of various mechanical arms such as a UR mechanical arm, a YUMI mechanical arm and the like, and the universality is high; the whole device has the advantages of simple structure, convenient operation, small volume, low manufacturing cost and wide application range.)

1. The utility model provides a calibration plate device that is used for camera internal reference to mark and arm hand eye to mark which characterized in that: comprises a calibration plate and a bracket. The calibration plate comprises a support plate, a bolt, a hexagon nut and a connecting rod; the support comprises a flange chassis, a middle connecting rod, a knob, a locking nut and a jackscrew.

The supporting plate of the calibration plate is fixedly connected with the connecting rod through a bolt and a nut.

The flange chassis of the support is connected with the lower end of the middle connecting rod through the jackscrew, the middle connecting rod and the flange chassis are relatively fixed when the jackscrew is screwed down, and the relative rotation angle between the middle connecting rod and the flange chassis is adjustable when the jackscrew is unscrewed. The upper end of the middle connecting rod is fixed with the connecting rod of the calibration plate through a knob and a locking nut, the support is fixed relative to the calibration plate when the knob of the connecting support is screwed down, and the relative angle between the support and the calibration plate is adjustable when the knob of the connecting support is unscrewed.

The flange chassis is provided with a plurality of mounting holes and can be matched with end flanges of the UR mechanical arm, the YUMI mechanical arm and the roaming mechanical arm.

Technical Field

The invention relates to the technical field of camera calibration and the technical field of mechanical arm hand-eye calibration, in particular to a calibration plate device for camera internal reference calibration and mechanical arm hand-eye calibration.

Background

And the camera internal parameter calibration is used for determining the accurate values of the focal length, the principal point and the distortion parameter of the camera. The calibration of the camera internal reference needs to use a calibration plate, namely a thin plate printed with a chessboard pattern formed by black and white rectangles. When the camera is calibrated, a calibration plate needs to be used for shooting at different positions, different angles and different postures, at least 3 pieces of camera are needed, and 10-20 pieces of camera are suitable. When the position of camera is fixed, often can only shoot the work through handheld calibration board, be not suitable for one-man operation, the hand causes the sheltering from to the calibration board very easily moreover, is unfavorable for going on of camera calibration work.

The calibration of the hand and the eye of the mechanical arm is used for unifying the coordinate systems of the vision system and the robot, so that the pose of an object determined by the vision system can be converted into the coordinate system of the robot, and a calibration plate is also needed in the general method for calibrating the hand and the eye of the mechanical arm. The mechanical arm hand-eye system is divided into an eye-on-hand-eye system and an eye-off-hand-eye system. The system is characterized in that the camera is fixed at the tail end of the mechanical arm and does not move relative to the tail end of the mechanical arm; the eye-in-hand and eye-in-hand system features that the camera is fixed on the table top and has no relative motion with the mechanical arm seat. For the calibration of the hand-eye system with eyes on hands, a calibration plate needs to be fixed on a desktop at a fixed pose and cannot move relative to the desktop in the calibration process; for the calibration of the eye-in-hand-eye system, a calibration plate needs to be fixed at the tail end of the mechanical arm in a fixed pose, and cannot move relative to the tail end of the mechanical arm in the calibration process. If the calibration plate generates relative displacement in the calibration process, the calibration precision of the hand and the eye is greatly reduced.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide a calibration plate device aiming at three calibration works of camera internal reference calibration, eye-on-hand eye calibration and eye-outside-hand eye calibration, which can be stably fixed on a desktop or a mechanical arm and keep the position and the attitude of a calibration plate unchanged, and can conveniently adjust the position and the attitude of the calibration plate, so that the calibration plate device can be simultaneously suitable for the three calibration modes.

The technical scheme is as follows: in order to realize the purpose, the invention adopts the following technical scheme: the utility model provides a calibration plate device that is used for camera internal reference to mark and arm hand eye to mark which characterized in that: comprises a calibration plate and a bracket. The calibration plate comprises a support plate, a bolt, a hexagon nut and a connecting rod; the support comprises a flange chassis, a middle connecting rod, a knob, a locking nut and a jackscrew.

The supporting plate of the calibration plate is fixedly connected with the connecting rod through a bolt and a nut.

The flange chassis of the support is connected with the lower end of the middle connecting rod through the jackscrew, the middle connecting rod and the flange chassis are relatively fixed when the jackscrew is screwed down, and the relative rotation angle between the middle connecting rod and the flange chassis is adjustable when the jackscrew is unscrewed. The upper end of the middle connecting rod is fixed with the connecting rod of the calibration plate through a knob and a locking nut, the support is fixed relative to the calibration plate when the knob of the connecting support is screwed down, and the relative angle between the support and the calibration plate is adjustable when the knob of the connecting support is unscrewed.

Has the advantages that: compared with the prior art, the invention has the following advantages: the camera calibration device can be used for the work of camera internal parameter calibration, eye-on-hand and eye calibration, eye-outside-hand and eye calibration and the like, and has rich functions; the flange chassis can be matched with flanges at the tail ends of various mechanical arms such as a UR mechanical arm, a YUMI mechanical arm and the like, and the universality is high; the whole device has the advantages of simple structure, convenient operation, small volume and low manufacturing cost.

Drawings

FIG. 1 is a structural assembly diagram of a calibration board device for camera internal reference calibration and mechanical arm hand-eye calibration

FIG. 2 is a front view of a calibration plate apparatus for camera internal reference calibration and robotic arm hand-eye calibration

In the drawings

1. Supporting plate 2, bolt 3, connecting rod 4, nut 5, locking nut 6, knob 7, jackscrew 8, middle connecting rod 9, flange chassis

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention, which is defined in the appended claims as modified in various equivalent forms by those skilled in the art after reading this disclosure.

The working principle of the invention is as follows: when the camera is internally calibrated, chessboard pattern paper printed with black and white rectangles is adhered to the support plate 1, the flange chassis 9 is fixed on a table top by using bolts, the knob 6 and the jackscrew 7 are loosened, the pitching angle and the spinning angle of the support plate 1 are adjusted, all the black and white rectangles on the support plate 1 are within the visual field of the camera, then the knob 6 and the jackscrew 7 are screwed, the support plate 1 is fixed, and a camera shutter is pressed to shoot a photo. And repeating the process for about 20 times, changing the pose of the calibration plate through the adjusting knob 6 and the jackscrew 7 every time, and taking a photo.

When the eyes are marked on hands, the knob 6 and the jackscrew 7 are screwed down to relatively fix the support plate 1 and the flange chassis 9, and paper printed with black and white rectangles to form a chessboard pattern is adhered to the support plate 1. The flange chassis 9 is fixed to the table top using bolts. The mechanical arm is moved to enable all black and white rectangles on the supporting plate 1 to be in the visual field of the camera at the tail end of the mechanical arm, and then the camera shutter is pressed to take pictures. And moving the mechanical arm again, changing the pose of the support plate 1 relative to the camera, and taking the picture again, wherein the process is repeated for about 10 times.

When the eyes are marked outside the hands, the knob 6 and the jackscrew 7 are screwed down to relatively fix the support plate 1 and the flange chassis 9, and paper printed with black and white rectangles forming a chessboard pattern is adhered on the support plate 1. The flange chassis 9 is provided with a plurality of groups of threaded holes which can be matched with flanges at the tail ends of various mechanical arms such as a UR mechanical arm and a YUMI mechanical arm, and the flange chassis 9 is fixed at the tail end of the mechanical arm through bolts. The mechanical arm is moved to make all black and white rectangles on the support plate 1 in the visual field of the camera, and then the camera shutter is pressed to take pictures. And moving the mechanical arm again, changing the pose of the support plate 1 relative to the camera, and taking the picture again, wherein the process is repeated for about 10 times.