Calibration tooling and calibration method

Abstract

This specification discloses a calibration tool and a calibration method. The calibration tool in the embodiments of this specification includes: a calibration tray for carrying a self-guided robot and a calibration top plate arranged on the calibration tray, wherein the upper surface of the calibration tray and / or the lower surface of the calibration top plate are provided with a calibration mark. When the self-guided robot is placed at a specified position on the calibration tray, there is a distance between the self-guided robot and the calibration mark, and the orthographic projection of the designated point of the self-guided robot on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guided robot. The embodiments of this specification assist the self-guided robot in completing the calibration test of the image sensor through the above-mentioned calibration tool, thereby greatly improving the efficiency of the calibration test.

Description

Technical Field

[0001] The present invention relates to the field of robotics, and in particular to a calibration tool and a calibration method for an image sensor in a self-guided robot. Background Art

[0002] Currently, equipment such as automated guided vehicles (AGVs) (eg, self-guided robots) have been widely used in warehousing, logistics and other fields to realize automated transportation of goods.

[0003] In the order processing process of the warehouse, the picking process is usually involved. The picking process mainly refers to taking out the goods involved in multiple orders from various storage areas in the warehouse through AGV and transporting them to the designated sorting location. The self-guided robot can be equipped with two upward and downward image sensors (for example, cameras). During the picking process, based on the visual marker navigation technology, the self-guided robot can travel according to the navigation path determined by the control system. Specifically, the self-guided robot can shoot the ground mark according to the downward image sensor and drive to the bottom of the designated shelf; when the self-guided robot drives to the bottom of the designated shelf, the upward image sensor correctly shoots the QR code mark on the shelf to ensure that the self-guided robot is directly under the shelf, so as to ensure that the self-guided robot can lift and move the shelf smoothly. Under the command of the control system, the self-guided robot moves the shelf to the picking workstation and waits for further operation.

[0004] When the two upward and downward image sensors are installed in the middle of the upper surface and the middle of the lower surface of the self-guided robot respectively, it is the best installation method for the image sensors. At this time, the self-guided robot can accurately drive along the navigation path under the command of the control system. However, during the manufacturing and installation process of the self-guided robot, the installation of the upward and downward image sensors is inevitably biased. At this time, in order to ensure that the self-guided robot can accurately drive along the navigation path during the picking process, the upward and downward image sensors need to be calibrated and tested before the self-guided robot is actually applied to the picking process. Summary of the invention

[0005] The embodiments of this specification provide a calibration tool and a calibration method to partially solve the problems existing in the above-mentioned prior art.

[0006] The embodiments of this specification adopt the following technical solutions:

[0007] This manual provides a calibration tool, including:

[0008] Calibration tray, used to carry the self-guided robot;

[0009] A calibration top plate disposed on the calibration tray;

[0010] The upper surface of the calibration tray and / or the lower surface of the calibration top plate are provided with calibration marks;

[0011] When the self-guided robot is placed at the designated position of the calibration tray, there is a distance between the self-guided robot and the calibration mark, and the orthographic projection of the designated point of the self-guided robot on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guided robot.

[0012] Optionally, the calibration mark includes a first calibration mark and a second calibration mark, wherein the first calibration mark is arranged on the upper surface of the calibration tray, and the second calibration mark is arranged on the lower surface of the calibration top plate, wherein the projections of the center point of the second calibration mark, the center point of the standard installation position of the upward image sensor in the self-guided robot, and the center point of the standard installation position of the downward image sensor in the self-guided robot on the calibration tray respectively coincide with the center point of the first calibration mark. There is a distance between the upward image sensor in the self-guided robot and the second calibration mark, and there is also a distance between the downward image sensor in the self-guided robot and the first calibration mark.

[0013] Optionally, the calibration top plate is detachably connected to the calibration tray.

[0014] Optionally, the calibration top plate has a left-right symmetrical structure with the center point of the second calibration mark as the symmetry center.

[0015] Optionally, a second calibration mark is provided on the upper surface of the calibration top plate, and a second calibration mark is also provided on the lower surface of the calibration top plate, and the projections of the center points of the two second calibration marks on the calibration tray respectively coincide with the center point of the first calibration mark.

[0016] Optionally, two support members are vertically arranged on both sides of the upper surface of the calibration tray, each of the support members includes an integrally formed first support portion and a second support portion, the height of the first support portion is greater than the height of the second support portion, the bottom surface of the first support portion is fixedly connected to the calibration tray, the top surface of the first support portion is in contact with the bottom surface of the second support portion, and the bottom surface area of ​​the second support portion is smaller than the top surface area of ​​the first support portion. A fixing hole is provided at both ends of the calibration top plate, the areas of the two fixing holes are smaller than the top surface area of ​​the first support portion, and the two fixing holes are respectively sleeved on the second support portions of the two support members.

[0017] Optionally, a first fixing plate is further provided under the first supporting portion, the bottom surface of the first fixing plate is fixedly connected to the calibration tray, the top surface of the first fixing plate is in contact with the bottom surface of the first supporting portion, and the top surface area of ​​the first fixing plate is larger than the bottom surface area of ​​the first supporting portion.

[0018] Optionally, the calibration tool also includes a positioning pin, a plurality of first upper positioning holes are formed through the area where the top surface of the first fixing plate is not in contact with the bottom surface of the first supporting portion, and a plurality of first lower positioning holes corresponding to the first upper positioning holes are formed on the calibration tray, and the corresponding first upper positioning holes are concentrically arranged with the first lower positioning holes, and the positioning pin passes through the first upper positioning holes and the first lower positioning holes in sequence from top to bottom to connect the first fixing plate with the calibration tray.

[0019] Optionally, a first fixing block is further provided below the first fixing plate, the top surface of the first fixing block is in contact with the bottom surface of the first fixing plate, and the top surface area of ​​the first fixing block is smaller than the bottom surface area of ​​the first fixing plate. The calibration tray is further provided with two first fixing block grooves corresponding to the two first fixing blocks, the two first fixing blocks are respectively placed in the two first fixing block grooves, and the sizes of the first fixing block and the first fixing block grooves match.

[0020] Optionally, the calibration tray is provided with a plurality of pillar assemblies, each of which includes an integrally formed first pillar and a second pillar, the bottom surface of the first pillar is fixedly connected to the calibration tray, the top surface of the first pillar is in contact with the bottom surface of the second pillar, and the bottom surface area of ​​the second pillar is smaller than the top surface area of ​​the first pillar. The bottom surface of the self-guided robot is provided with a plurality of base holes, the area of ​​each base hole is smaller than the top surface area of ​​the first pillar, and the designated position is: the position of the base hole corresponds to the position of the second pillar one by one, and the plurality of base holes on the bottom surface of the self-guided robot are arranged one by one on the second pillar.

[0021] Optionally, a second fixing plate is provided below the first pillar, the bottom surface of the second fixing plate is fixedly connected to the calibration tray, the top surface of the second fixing plate is in contact with the bottom surface of the first pillar, and the top surface area of ​​the second fixing plate is larger than the bottom surface area of ​​the first pillar.

[0022] Optionally, the calibration tool also includes a positioning pin, a plurality of second upper positioning holes are formed through the area where the top surface of the second fixing plate is not in contact with the bottom surface of the first pillar, and a plurality of second lower positioning holes corresponding one-to-one to the second upper positioning holes are formed on the calibration tray, and the corresponding second upper positioning holes are concentrically arranged with the second lower positioning holes, and the positioning pin passes through the second upper positioning holes and the second lower positioning holes in sequence from top to bottom to connect the second fixing plate with the calibration tray.

[0023] Optionally, a second fixing block is further provided below the second fixing plate, the top surface of the second fixing block is in contact with the bottom surface of the second fixing plate, and the top surface area of ​​the second fixing block is smaller than the bottom surface area of ​​the second fixing plate. The calibration tray is further provided with a plurality of second fixing block grooves corresponding to the plurality of second fixing blocks, the plurality of second fixing blocks are respectively placed in the plurality of second fixing block grooves, and the second fixing blocks match the sizes of the second fixing block grooves.

[0024] Optionally, the top of the second supporting portion is chamfered.

[0025] Optionally, the top of the second pillar is chamfered.

[0026] This specification provides a calibration method, using the above-mentioned calibration tool, the method comprising:

[0027] Placing the homing robot at a designated position on the calibration tray so that there is a distance between the homing robot and the calibration mark, and the orthographic projection of the designated point of the homing robot on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of the image sensor on the homing robot;

[0028] Acquiring images by using an image sensor installed on the self-guided robot;

[0029] Determine, according to the acquired image, the position of the calibration mark contained in the image;

[0030] The installation error of the image sensor is calibrated according to the position of the calibration mark in the image.

[0031] Optionally, based on the captured image, the position of the calibration mark contained in the image is determined, specifically including: performing image processing on the image to identify a pattern contained in the image; determining the pattern of the calibration mark among the patterns contained in the image; determining the position of the calibration mark contained in the image based on the pattern of the calibration mark; wherein the image processing includes at least one of grayscale, color inversion, filtering, and edge detection.

[0032] Optionally, determining the pattern of the calibration mark from the patterns contained in the image specifically includes: obtaining a standard pattern of the calibration mark; for each pattern contained in the image, determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold; if so, using the pattern as the pattern of the calibration mark.

[0033] Optionally, determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold specifically includes: determining whether the difference between the length of the pattern outline and the length of the standard pattern outline is less than a preset first threshold; and / or determining whether the difference between the area of ​​the pattern and the area of ​​the standard pattern is less than a preset second threshold; when the judgment result is yes, then determining that the similarity between the pattern and the standard pattern is less than the preset similarity threshold.

[0034] Optionally, the installation error of the image sensor is calibrated according to the position of the calibration mark in the image, specifically including: taking the pattern of the calibration mark as the designated pattern; taking the designated point as the coordinate origin, determining the position coordinates of the center point of the designated pattern in the image and the rotation angle of the designated pattern; determining the offset of the image sensor according to the position coordinates; and calibrating the installation error of the image sensor according to the offset and the rotation angle.

[0035] Optionally, after calibrating the image sensor, the method further includes: compensating for an installation error of the image sensor based on the calibrated image sensor; and controlling the self-guided robot based on the compensated installation error.

[0036] At least one of the above technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects:

[0037] The calibration tooling in the embodiments of this specification includes: a calibration tray for carrying the self-guided robot and a calibration top plate arranged on the calibration tray, wherein the upper surface of the calibration tray and / or the lower surface of the calibration top plate are provided with a calibration mark. When the self-guided robot is placed at a specified position on the calibration tray, there is a distance between the self-guided robot and the calibration mark, and the orthographic projection of the designated point of the self-guided robot on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guided robot. The embodiments of this specification assist the self-guided robot in completing the calibration test of the image sensor through the above-mentioned calibration tooling, thereby greatly improving the efficiency of the calibration test. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings described herein are used to provide a further understanding of this specification and constitute a part of this specification. The illustrative embodiments and descriptions of this specification are used to explain this specification and do not constitute an improper limitation on this specification. In the drawings:

[0039] Figure 1A Workflow diagram of the cargo picking system provided for this specification;

[0040] Figure 1B A schematic diagram of the self-guided robot provided for this manual;

[0041] Figure 1C Schematic diagram of the structure of the goods provided for this manual placed on the inventory rack;

[0042] Figure 1D Schematic diagram of the structure of the goods provided for this manual placed on the sowing wall;

[0043] Figure 2 A schematic diagram of the structure of the calibration tooling provided for this manual;

[0044] Figure 3 Schematic diagram of the self-guided robot provided for this manual placed on the calibration tooling;

[0045] Figure 4 A schematic diagram of the structure of the calibration top plate provided for this manual;

[0046] Figure 5 A side view of the support provided for this specification;

[0047] Figure 6 A top view of the support provided for this specification;

[0048] Figure 7 A top view of the calibration tray provided for this manual;

[0049] Figure 8A schematic diagram of the structure of the first fixing block groove and the first lower positioning hole in the calibration tray provided in this specification;

[0050] Fig. 9 A side view of a strut assembly provided for this specification;

[0051] Fig.10 A top view of the strut assembly provided for this specification;

[0052] Fig.11 A schematic diagram of the structure of the second fixing block groove and the second lower positioning hole in the calibration tray provided in this specification;

[0053] Fig.12 A schematic diagram of the bottom of the self-guided robot provided for this instruction manual.

[0054] Fig.13 Schematic diagram of the calibration method provided for this description.

[0055] Meaning of the reference numerals: 1-calibration tray, 101-driving mechanism, 102-lifting mechanism, 103-image sensor, 110-pillar assembly, 111-first pillar, 112-second pillar, 113-second fixing plate, 114-second fixing block, 115-first lower positioning hole, 116-second lower positioning hole, 2-calibration top plate, 21-fixing hole, 3-locating pin, 4-first calibration mark, 5-second calibration mark, 6-support member, 61-first support Part, 62-second supporting part, 63-first fixed plate, 64-first fixed block, 65-first upper positioning hole, 66-second upper positioning hole, 7-first fixed block groove, 8-second fixed block groove, 9-base hole, 10-self-guided robot, 20-controller, 30-inventory area, 31-inventory bracket, 311-QR code mark, 312-support frame, 40-picking workstation, 41-staff, 50-turnover box, 60-goods, 100-operating table. DETAILED DESCRIPTION

[0056] Exemplary embodiments are described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with this specification. Instead, they are merely examples of devices and methods consistent with some aspects of this specification as detailed in the appended claims.

[0057] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this specification. The singular forms "a", "the" and "the" used in this specification and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0058] It should be understood that although the terms first, second, third, etc. may be used in this specification to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this specification, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0059] The self-guided robot 10 provided in the embodiment of this specification can be applied to a cargo picking system. Figure 1A As shown, Figure 1A The flowchart is a flow chart of a cargo picking system in a warehouse environment. The cargo picking system includes: a self-guided robot 10, a remote controller 20, an inventory area 30, and a picking workstation 40. The inventory area 30 contains a plurality of shelves or shelf-like inventory racks 31, on which various inventory goods are placed, or inventory racks 31 are placed with inventory containers, in which various inventory goods are contained, and a plurality of inventory racks 31 form a group, and different groups are arranged in an array.

[0060] The staff 41 operates the controller 20 through the operation table 100, and the controller 20 communicates wirelessly with the self-guided robot 10. The self-guided robot 10 performs the handling task under the control of the controller 20. For example, the controller 20 selects the inventory rack 31 or the inventory container on the inventory rack 31 for the order according to the inventory information. The inventory rack 31 or the inventory container contains the order goods of the order. In addition, the controller 20 also selects the picking workstation 40 and the self-guided robot 10 for the order, and plans a navigation path from the original position to the selected picking workstation 40 for the selected self-guided robot 10. The self-guided robot 10 travels along the empty space in the array of the inventory rack 31 (a part of the passage of the self-guided robot 10) according to the navigation path. In order to facilitate the planning of the navigation path for the self-guided robot 10, the working area of ​​the self-guided robot 10 (the working area at least includes the inventory area 30 and the area where the picking workstation 40 is located) can be divided into several sub-areas (i.e., cells) in advance, and the self-guided robot 10 moves from sub-area to sub-area to form a motion trajectory.

[0061] Among them, the compartments on the inventory rack 31 can be loaded with inventory containers such as material boxes or pallets, the material boxes can contain disassembled inventory items (such as canned cola), and the pallets can be placed on pallets of inventory items (such as boxes of cola). The self-guided robot 10 can carry the entire inventory rack 31 to the picking workstation 40 for goods picking operations, or it can grab the inventory containers (such as material boxes or pallets) on the inventory rack 31 and carry the inventory containers to the picking workstation 40 for goods picking operations. Of course, the inventory rack 31 can also use other suitable loading methods to load material boxes, pallets or other types of inventory containers, all of which are within the protection scope of the embodiments of this specification.

[0062] Take the self-guided robot 10 carrying the inventory rack 31 as an example. Figure 1B As shown, the self-guided robot 10 may include a driving mechanism 101, through which the self-guided robot 10 can move in the working area. The self-guided robot 10 may also include a lifting mechanism 102 for carrying the inventory rack 31. The self-guided robot 10 can move to the bottom of the inventory rack 31, lift the inventory rack 31 by the lifting mechanism 102, and carry it to the assigned picking workstation 40. When the lifting mechanism 102 is raised, the entire inventory rack 31 is lifted from the ground so that the self-guided robot 10 can carry the inventory rack 31. When the lifting mechanism 102 is lowered, the inventory rack 31 is placed on the ground. The image sensor 103 (for example, a camera) on the self-guided robot 10 can effectively identify the inventory rack 31 when the self-guided robot 10 lifts the inventory rack 31.

[0063] In addition, if navigation is based on visual markers, the self-guided robot 10 also includes a navigation recognition component ( Figure 1B The self-guided robot 10 may also use other navigation methods besides visual marker navigation, such as inertial navigation, SLAM navigation, etc., and may also combine two or more navigation methods at the same time, such as QR code navigation and inertial navigation, SLAM navigation and QR code navigation, etc. Of course, the self-guided robot 10 also includes a control module ( Figure 1B not shown).

[0064] In one example, the self-guided robot 10 includes at least two image sensors 103 facing upward and downward, and can move forward according to the information of the two-dimensional code mark 311 (or other ground marks) captured by the downward image sensor 103, and can move to the bottom of the inventory rack 31 indicated by the controller 20 according to the navigation path determined by the controller 20. Figure 1C As shown, Figure 1C The structural diagram of the goods placed on the inventory support provided in this specification, the goods 60 can be directly stored on the inventory support 31, and of course the goods 60 can also be stored in an inventory container, such as a bin or a pallet. In a specific embodiment, the inventory support 31 includes a plurality of compartments stacked in the vertical direction, and each compartment can accommodate a plurality of goods 60. A two-dimensional code mark 311 is provided in the center of the bottom of the inventory support 31. When the self-guided robot 10 drives under the inventory support 31, the two-dimensional code mark 311 is correctly photographed by the upward image sensor 103 to ensure that the self-guided robot 10 is located just below the inventory support 31, so as to ensure that the self-guided robot 10 can smoothly lift and carry the inventory support 31, and the inventory support 31 includes one or more support frames 312. In addition, in a specific embodiment, the goods 60 can also be hung from a hook or rod inside or on the inventory support 31. The goods 60 can be placed on the interior or exterior surface of the inventory support 31 on the inventory support 31 in any appropriate manner.

[0065] After the self-guided robot 10 carries the inventory rack 31 to the picking workstation 40, a worker 41 or an automated device (e.g., a robotic arm) performing a picking operation at the picking workstation 40 picks the goods 60 from the inventory rack 31 and puts them into a turnover box 50 on the sowing wall to wait for further operations, such as packaging operations. Figure 1D shown.

[0066] The above process is the picking link of the order processing flow in the warehouse. After the picking link is completed, the packaged parcels need to be sorted and finally shipped by express delivery.

[0067] The calibration tooling and calibration method of the image sensor in the self-guided robot in this specification are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the features of the following embodiments and implementations can be combined with each other.

[0068] like Figure 2 , Figure 3 As shown, the calibration tooling provided in the embodiment of this specification includes: a calibration tray 1 for carrying a self-guided robot 10, a calibration top plate 2 arranged on the calibration tray 1, and a calibration mark is provided on the upper surface of the calibration tray 1 and / or the lower surface of the calibration top plate 2. When the self-guided robot 10 is placed at a designated position on the calibration tray 1, there is a spacing between the self-guided robot 10 and the calibration mark, and the orthographic projection of the designated point of the self-guided robot 10 on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor 103 on the self-guided robot 10. It should be noted that the designated point can be the center point of the standard installation position of the image sensor 103 on the self-guided robot 10, or it can be other points.

[0069] The calibration mark is used in the calibration process of the image sensor 103 of the self-guided robot 10, so that the image sensor 103 collects the calibration mark image for calibration. The calibration mark can be set only on the upper surface of the calibration tray 1, or only on the lower surface of the calibration top plate 2, or on both the upper surface of the calibration tray 1 and the lower surface of the calibration top plate 2. The setting method mainly depends on the setting position and number of the image sensor 103 in the self-guided robot 10 to be calibrated. If the image sensor 103 is only set above the self-guided robot 10, then the calibration mark is set on the lower surface of the calibration top plate 2; if the image sensor 103 is only set below the self-guided robot 10, then the calibration mark is set on the upper surface of the calibration tray 1; if the image sensor 103 is installed above and below the self-guided robot 10, then the calibration mark is set on both the upper surface of the calibration tray 1 and the lower surface of the calibration top plate 2. In addition, there needs to be a distance between the self-guided robot 10 and the calibration mark so that the image sensor 103 can capture the calibration mark image. Of course, this distance cannot be too large, otherwise it will cause the calibration mark image captured by the image sensor 103 to be distorted, affecting the calibration test work.

[0070] If the image sensor 103 is installed above and below the self-guided robot 10 to be calibrated, the calibration mark may include a first calibration mark 4 and a second calibration mark 5, wherein the first calibration mark 4 is arranged on the upper surface of the calibration tray 1, and the second calibration mark 5 is arranged on the lower surface of the calibration top plate 2, wherein the center point of the second calibration mark 5, the center point of the standard installation position of the upward image sensor 103 in the self-guided robot 10, and the center point of the standard installation position of the downward image sensor 103 in the self-guided robot 10 are respectively projected on the calibration tray 1, and all coincide with the center point of the first calibration mark 4. There is a distance between the upward image sensor 103 in the self-guided robot 10 and the second calibration mark 5, and there is also a distance between the downward image sensor 103 in the self-guided robot 10 and the first calibration mark 4.

[0071] like Figure 4As shown, the self-guided robot 10 is generally composed of many parts and components, so it is heavy. Some self-guided robots 10 can weigh 200kg. Then in the process of calibrating the image sensor 103 of the self-guided robot 10, it is difficult to directly place the self-guided robot 10 from the gap between the calibration tray 1 and the calibration top plate 2 to the calibration tray 1. At this time, in order to improve the working efficiency of the calibration test, the calibration top plate 2 and the calibration tray 1 can be set to a detachable connection structure. In this case, when calibrating the image sensor 103 of the self-guided robot 10, the calibration top plate 2 can be first taken away from the calibration tray 1 and placed on one side, and then the self-guided robot can be placed on the calibration tray 1 through auxiliary equipment, and then the calibration top plate 2 can be placed on the calibration tray 1 again to perform the calibration test.

[0072] As mentioned above, in order to improve the efficiency of calibration test, the calibration top plate 2 is set to be detachable from the calibration tray 1, so the calibration top plate 2 can be set to be symmetrical with the center point of the second calibration mark 5 as the center, so that it is a left-right symmetrical structure. In this way, during the process of taking and placing the calibration top plate 2, there is no need to remember the original position of the calibration top plate 2, and the calibration test can be completed by placing it upside down.

[0073] Furthermore, a second calibration mark 5 may be provided on the upper surface of the calibration top plate 2, and a second calibration mark 5 may also be provided on the lower surface of the calibration top plate 2, and the projections of the center points of the two second calibration marks 5 on the calibration tray 1 respectively coincide with the center point of the first calibration mark 4. In this way, during the process of taking and placing the calibration top plate 2, even if the calibration top plate 2 is placed upside down, it will not affect the calibration test work.

[0074] like Figure 4 , Figure 5 , Figure 6As shown, the structure for realizing the detachable connection between the calibration tray 1 and the calibration top plate 2 can be a support member 6. It will be described in detail below. Two support members 6 are vertically arranged on both sides of the upper surface of the calibration tray 1, and each support member 6 includes an integrally formed first support portion 61 and a second support portion 62, the height of the first support portion 61 is greater than the height of the second support portion 62, wherein the bottom surface of the first support portion 61 is fixedly connected to the calibration tray 1, the top surface of the first support portion 61 is in contact with the bottom surface of the second support portion 62, and the bottom surface area of ​​the second support portion 62 is smaller than the top surface area of ​​the first support portion 61. A fixing hole 21 is provided at both ends of the calibration top plate 2, the areas of the two fixing holes 21 are smaller than the top surface area of ​​the first support portion 61, and the two fixing holes 21 are respectively sleeved on the second support portions 62 of the two support members 6. This structure allows the calibration top plate 2 to be detachably placed on the second support portion 62 of the support member 6 through the fixing hole, and has a simple structure and convenient operation. At this time, the bottom surface of the first supporting portion 61 and the calibration tray 1 may be fixedly connected by welding or the like.

[0075] In addition, a first fixing plate 63 may be provided below the first support portion 61, the bottom surface of the first fixing plate 63 is fixedly connected to the calibration tray 1, the top surface of the first fixing plate 63 is in contact with the bottom surface of the first support portion 61, and the top surface area of ​​the first fixing plate 63 is larger than the bottom surface area of ​​the first support portion 61. At this time, the bottom surface of the first fixing plate 63 and the calibration tray 1 may also be fixedly connected by welding. Since the top surface area of ​​the first fixing plate 63 is larger than the bottom surface area of ​​the first support portion 61, adding the first fixing plate 63 on the basis of the first support portion 61 can improve the stability of the support member 6.

[0076] Further, such as Figure 2 , Figure 6 , Figure 8 As shown, the calibration tool also includes a positioning pin 3, and a plurality of first upper positioning holes 65 are provided through the area where the top surface of the first fixing plate 63 is not in contact with the bottom surface of the first supporting portion 61, and a plurality of first lower positioning holes 115 corresponding to the first upper positioning holes 65 are provided on the calibration tray 1. The corresponding first upper positioning holes 65 and the first lower positioning holes 115 are arranged concentrically, and the positioning pin 3 passes through the first upper positioning holes 65 and the first lower positioning holes 115 from top to bottom in sequence to connect the first fixing plate 63 with the calibration tray 1. At this time, the first fixing plate 63 and the calibration tray 1 are connected by the positioning pin 3, and this connection method is more flexible. Among them, the plurality of first upper positioning holes 65 can be arranged at equal intervals with the center of the top surface of the first fixing plate 63 as the center. The number of the first upper positioning holes 65 can be determined according to the size of the area where the top surface of the first fixing plate 63 is not in contact with the bottom surface of the first supporting portion 61, and is generally four or six.

[0077] like Figure 5 , Figure 7As shown, a first fixing block 64 is further provided below the first fixing plate 63, the top surface of the first fixing block 64 is in contact with the bottom surface of the first fixing plate 63, and the top surface area of ​​the first fixing block 64 is smaller than the bottom surface area of ​​the first fixing plate 63. Two first fixing block grooves 7 corresponding to the two first fixing blocks 64 are also provided on the calibration tray 1, and the two first fixing blocks 64 are respectively placed in the two first fixing block grooves 7, and the sizes of the first fixing blocks 64 and the first fixing block grooves 7 match. On the basis of the above-mentioned structure of the support member 6, the first fixing block 64 is added, and the first fixing block 64 is placed in the first fixing block groove 7 matching its external dimensions, which can further improve the stability of the support member 6.

[0078] Optional, such as Fig. 9 , Fig.12 As shown, the calibration tray 1 is provided with a plurality of pillar assemblies 110, each pillar assembly 110 includes an integrally formed first pillar 111 and a second pillar 112, the bottom surface of the first pillar 111 is fixedly connected to the calibration tray 1 (e.g., welded), the top surface of the first pillar 111 is in contact with the bottom surface of the second pillar 112, and the bottom surface area of ​​the second pillar 112 is smaller than the top surface area of ​​the first pillar 111. The bottom surface of the self-guided robot 10 is provided with a plurality of base holes 9, the area of ​​each base hole 9 is smaller than the top surface area of ​​the first pillar 111, and the designated position is: the position of the base hole 9 corresponds to the position of the second pillar 112 one by one, and the plurality of base holes 9 on the bottom surface of the self-guided robot 10 are one by one set on the second pillar 112. Through this structure, a certain distance is formed between the downward image sensor 103 in the self-guided robot 10 and the first calibration mark 4, so that the image sensor 103 can collect the image of the first calibration mark 4. The number of the pillar assemblies 110 can be four, five, six, eight, etc. The specific number of the pillar assemblies 110 is determined by the number of base holes 9 opened on the bottom surface of the self-guided robot 10 to be calibrated. Under the premise of ensuring the bearing capacity, the number of the pillar assemblies 110 can be less than or equal to the number of base holes 9 of the self-guided robot 10, but cannot be more than the number of base holes 9. When the number of the pillar assemblies 110 is more than the number of base holes 9, the self-guided robot 10 will be placed unevenly, affecting the calibration test work.

[0079] like Fig. 9 As shown, a second fixing plate 113 is further provided below the first pillar 111, the bottom surface of the second fixing plate 113 is fixedly connected (e.g., welded) to the calibration tray 1, the top surface of the second fixing plate 113 is in contact with the bottom surface of the first pillar 111, and the top surface area of ​​the second fixing plate 113 is larger than the bottom surface area of ​​the first pillar 111. The top surface area of ​​the second fixing plate 113 is larger than the bottom surface area of ​​the first pillar 111, and adding the second fixing plate 113 on the basis of the first pillar 111 can improve the stability of the pillar assembly 110.

[0080] Furthermore, Figure 2 , Fig. 9 , Fig.10 , Fig.11 As shown, the calibration tool also includes a positioning pin 3, and a plurality of second upper positioning holes 66 are provided through the area where the top surface of the second fixing plate 113 is not in contact with the bottom surface of the first pillar 111, and a plurality of second lower positioning holes 116 corresponding to the second upper positioning holes 66 are provided on the calibration tray 1. The second upper positioning holes 66 and the second lower positioning holes 116 corresponding to each other are arranged concentrically, and the positioning pin 3 passes through the second upper positioning holes 66 and the second lower positioning holes 116 from top to bottom in sequence to connect the second fixing plate 113 with the calibration tray 1. At this time, the second fixing plate 113 and the calibration tray 1 are connected by the positioning pin 3, and this connection method is more flexible. Among them, the plurality of second upper positioning holes 66 can be arranged at equal intervals with the center of the top surface of the second fixing plate 113 as the center. The number of the second upper positioning holes 66 can be determined according to the size of the area where the top surface of the second fixing plate 113 is not in contact with the bottom surface of the first pillar 111, and is generally four or six.

[0081] like Fig. 9 As shown, a second fixing block 114 is further provided below the second fixing plate 113, the top surface of the second fixing block 114 is in contact with the bottom surface of the second fixing plate 113, and the top surface area of ​​the second fixing block 114 is smaller than the bottom surface area of ​​the second fixing plate 113. The calibration tray 1 is also provided with a plurality of second fixing block grooves 8 corresponding to the plurality of second fixing blocks 114, and the plurality of second fixing blocks 114 are respectively placed in the plurality of second fixing block grooves 8, and the size of the second fixing blocks 114 matches the size of the second fixing block grooves 8. On the basis of the above-mentioned structure of the pillar assembly 110, the second fixing block 114 is added, and the second fixing block 114 is placed in the second fixing block groove 8 matching its external size, which can further improve the stability of the pillar assembly 110. The number of the second fixing block grooves 8 matches the number of the pillar assembly 110.

[0082] Optionally, the top of the second support portion 62 is chamfered, and this structure makes it easier to take and place the calibration top plate 2.

[0083] Optionally, the top of the second support column 112 is chamfered. This structure makes the self-guided robot 10 easier to pick up and place.

[0084] The embodiments of this specification use the above-mentioned calibration tooling to assist the self-guided robot in completing the calibration test of the image sensor, thereby greatly improving the efficiency of the calibration test.

[0085] Based on the structure of the calibration tooling described above, the calibration method is described in detail below. Fig.13 As shown:

[0086] S200, place the self-guided robot 10 at the designated position of the calibration tray 1, so that there is a distance between the self-guided robot 10 and the calibration mark, and the orthographic projection of the designated point of the self-guided robot 10 on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, where the designated point is the standard installation position of the image sensor 103 on the self-guided robot 10.

[0087] S202 , collecting images through the image sensor 103 installed on the self-guided robot 10 .

[0088] In this specification, the self-guided robot 10 may be installed with several image sensors 103, for example, the upward image sensor 103 is installed on the upper surface of the self-guided robot 10, and the downward image sensor 103 is installed on the lower surface of the self-guided robot 10. When the image sensor 103 is calibrated, the calibration method in this embodiment can be used for the two upward and downward image sensors 103 installed on the self-guided robot 10. When the two upward and downward image sensors 103 are respectively installed in the middle of the upper surface and the middle of the lower surface of the self-guided robot 10, it is the best installation method for the image sensor 103. Therefore, the designated point of the self-guided robot 10, that is, the standard installation position of the image sensor 103, can be the center point of the self-guided robot 10. Of course, the designated point of the self-guided robot 10 (that is, the standard installation position of the image sensor 103) can also be other points on the self-guided robot 10. Therefore, for the sake of ease of description, this specification only takes the upward image sensor 103 installed on the upper surface of the self-guided robot 10 as an example, and takes the designated point on the self-guided robot 10 as the center point of the self-guided robot 10 as an example for explanation.

[0089] If the homing robot 10 is placed on the designated position of the calibration tray 1 of the calibration tool, the upward image sensor 103 installed on the upper surface of the homing robot 10 can capture images. Since the calibration tool used above carries a calibration mark, the orthographic projection of the center point of the homing robot 10 on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, and the center point is the center point of the standard installation position of the image sensor 103 on the homing robot 10. Therefore, the calibration mark is located in the capture area of ​​the image sensor 103, and the image captured by the image sensor 103 may include the pattern of the calibration mark.

[0090] S204: Determine the position of the calibration mark contained in the image according to the acquired image.

[0091] Based on the image captured by the image sensor 103 installed on the self-guided robot 10, the pattern of the calibration mark carried on the calibration tool can be determined in the captured image, so as to determine the position of the calibration mark contained in the image according to the pattern of the calibration mark.

[0092] Specifically, first, the image may be processed to identify a pattern contained in the image, wherein the image processing includes at least one of grayscale, color inversion, filtering, edge detection, and the like.

[0093] If the collected image is a color image, the color image can be converted into a grayscale image by weighting method, mean method or maximum method. If the collected image is a grayscale image, the grayscale processing of the image can be omitted. In order to facilitate the determination of the position of the pattern of the calibration mark in the image in the subsequent steps, the grayscale image can be color-inverted. Since the pixel value range of each pixel in the grayscale image is [0,255]. Therefore, when the grayscale image is color-inverted, for each pixel, the difference between the maximum pixel value and the pixel value of the point can be used as the pixel value of the point, and the grayscale image after color inversion is determined according to the pixel value of each pixel. Image filtering can remove part of the noise in the image. For example, using Gaussian filtering to denoise, for each pixel in the image, the weighted average of the pixel value of the point and the pixel value in the neighborhood of the point is taken as the pixel value of the point, and the image after Gaussian filtering is determined according to the pixel value of each point. Perform edge detection on the image, determine the magnitude and direction of the image gradient, perform non-maximum suppression on the gradient magnitude, detect the edge of the pattern in the image according to the preset threshold, and obtain the pattern contained in the image. Part of the image processing can be achieved through edge detection algorithms such as the Canny operator and the Sobel operator.

[0094] Next, a pattern of a calibration marker is determined among the patterns contained in the image.

[0095] Since the calibration mark may include a QR code, a line segment, a polygon, etc., for the convenience of description, a crosshair composed of two intersecting line segments may be used as the calibration mark, and the center point of the calibration mark is the intersection of the two intersecting line segments in the crosshairs. The standard pattern (i.e., crosshair) of the calibration mark may be obtained in advance, and for each pattern contained in the image, it is determined whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold. If so, the pattern is used as the pattern of the calibration mark. When determining whether the similarity between the pattern and the standard pattern is less than the preset similarity threshold, it may be determined whether the difference between the length of the pattern contour and the length of the standard pattern contour is less than a preset first threshold; and / or, it may be determined whether the difference between the area of ​​the pattern and the area of ​​the standard pattern is less than a preset second threshold; when the determination result is yes, it is determined that the similarity between the pattern and the standard pattern is less than the preset similarity threshold.

[0096] Finally, the position of the calibration mark contained in the image is determined according to the pattern of the calibration mark.

[0097] The pattern of the calibration mark contained in the image is used as the designated pattern, because the pattern outline of the designated pattern in the image is composed of a number of pixels. Therefore, when the designated point (that is, the center point of the self-guided robot 10) is used as the coordinate origin, the coordinate information of each pixel in the pattern outline of the designated pattern can be determined. According to the coordinate information of each pixel in the pattern outline of the designated pattern, the mean vector and the covariance matrix of each pixel can be determined. The covariance matrix is ​​subjected to eigendecomposition, and the characteristic matrix is ​​determined in the order from large to small according to the eigenvalue. According to the characteristic matrix, the rotation angle of the designated pattern can be determined. When the two-dimensional coordinate is established with the designated point as the coordinate origin, according to the coordinate information of each pixel in the pattern outline of the designated pattern, the average value of the coordinate information of each pixel on the horizontal coordinate and the average value on the vertical coordinate can be determined as the coordinate information of the center point of the designated pattern. According to the coordinate information of the center point of the designated pattern, the position of the calibration mark in the image can be determined. Of course, the above is based on the designated point as the coordinate origin, and the coordinate origin in this specification can also be other points, which will not be repeated here.

[0098] It should be noted that determining the coordinate information of the center point of the designated pattern and the rotation angle of the designated pattern can be achieved through principal component analysis (PCA).

[0099] S206, calibrating the installation error of the image sensor (103) according to the position of the calibration mark in the image.

[0100] After determining the coordinate information of the center point of the designated pattern and the rotation angle of the designated pattern, the offset of the image sensor 103 can be determined according to the position information of the designated pattern. Specifically, taking the center point of the designated pattern as an example, since the coordinate origin is the designated point (that is, the center point of the self-guided robot 10), the offset of the image sensor 103 can be determined by coordinate conversion according to the pixel ratio parameter and the coordinate information of the center point of the designated pattern. The actual length represented by a unit pixel in the image can be represented by the pixel ratio parameter. Therefore, the product of the pixel ratio parameter and the horizontal coordinate information of the center point can be determined as the offset of the image sensor 103 on the horizontal coordinate, and the product of the pixel ratio parameter and the vertical coordinate information of the center point can be determined as the offset of the image sensor 103 on the vertical coordinate.

[0101] The installation error of the image sensor 103 is calibrated according to the offset and rotation angle of the image sensor 103. Since there is an installation error between the image sensor 103 and the self-guided robot 10, after the installation error of the image sensor 103 is calibrated, the present specification can also compensate for the installation error, and control the self-guided robot 10 according to the compensated installation error. For example, for the downward image sensor 103 installed on the lower surface of the self-guided robot 10, according to the compensated installation error, the self-guided robot 10 can reach the destination in the navigation path according to the navigation path when driving, without deviating from the navigation path or missing the two-dimensional code mark on the ground. For another example, for the upward image sensor 103 installed on the upper surface of the self-guided robot 10, according to the compensated installation error, when the self-guided robot 10 carries the inventory rack 31, the center of the self-guided robot 10 can be aligned with the center of the inventory rack 31 for carrying, and there will be no transportation accidents such as the inventory rack 31 tilting.

[0102] The above is only a preferred embodiment of this specification and does not limit this specification in any form. Although this specification has been disclosed as a preferred embodiment, it is not used to limit this specification. Any technician familiar with this profession can make some changes or modify the technical content disclosed above into an equivalent embodiment with equivalent changes without departing from the scope of the technical solution of this specification. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of this specification without departing from the content of the technical solution of this specification still falls within the scope of the technical solution of this specification.

[0103] The present invention comprises A1, a calibration tool, characterized in that it comprises:

[0104] A calibration tray (1) for carrying a self-guided robot (10);

[0105] A calibration top plate (2) disposed on the calibration tray (1);

[0106] The upper surface of the calibration tray (1) and / or the lower surface of the calibration top plate (2) are provided with calibration marks;

[0107] When the self-guided robot (10) is placed at a designated position on the calibration tray (1), there is a distance between the self-guided robot (10) and the calibration mark, and the orthographic projection of the designated point of the self-guided robot (10) on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of the image sensor (103) on the self-guided robot (10).

[0108] A2. The calibration tool as described in claim A1, characterized in that the calibration mark includes a first calibration mark (4) and a second calibration mark (5), wherein the first calibration mark (4) is arranged on the upper surface of the calibration tray (1), and the second calibration mark (5) is arranged on the lower surface of the calibration top plate (2), wherein the center point of the second calibration mark (5), the center point of the standard installation position of the upward image sensor (103) in the self-guided robot (10), and the center point of the standard installation position of the downward image sensor (103) in the self-guided robot (10) are respectively projected on the calibration tray (1), and all coincide with the center point of the first calibration mark (4);

[0109] There is a distance between the upward image sensor (103) in the self-guided robot (10) and the second calibration mark (5), and there is also a distance between the downward image sensor (103) in the self-guided robot (10) and the first calibration mark (4).

[0110] A3. The calibration tool as described in claim A2 is characterized in that the calibration top plate (2) is detachably connected to the calibration tray (1).

[0111] A4. The calibration tool as described in claim A3 is characterized in that the calibration top plate (2) takes the center point of the second calibration mark (5) as the symmetry center and presents a left-right symmetrical structure.

[0112] A5. The calibration tool as described in claim A3 or A4 is characterized in that a second calibration mark (5) is provided on the upper surface of the calibration top plate (2), and a second calibration mark (5) is also provided on the lower surface of the calibration top plate (2), and the projections of the center points of the two second calibration marks (5) on the calibration tray (1) respectively coincide with the center point of the first calibration mark (4).

[0113] A6. The calibration tool as described in claim A1 or A3, characterized in that two support members (6) are vertically arranged on both sides of the upper surface of the calibration tray (1), and each of the support members (6) includes a first support portion (61) and a second support portion (62) formed in one piece, the height of the first support portion (61) is greater than the height of the second support portion (62), wherein the bottom surface of the first support portion (61) is fixedly connected to the calibration tray (1), the top surface of the first support portion (61) is in contact with the bottom surface of the second support portion (62), and the bottom surface area of ​​the second support portion (62) is smaller than the top surface area of ​​the first support portion (61);

[0114] A fixing hole (21) is provided at both ends of the calibration top plate (2), the areas of the two fixing holes (21) are both smaller than the top surface area of ​​the first supporting portion (61), and the two fixing holes (21) are respectively sleeved on the second supporting portions (62) of the two supporting members (6).

[0115] A7. The calibration tool as described in claim A6 is characterized in that a first fixing plate (63) is also provided below the first supporting portion (61), the bottom surface of the first fixing plate (63) is fixedly connected to the calibration tray (1), the top surface of the first fixing plate (63) is in contact with the bottom surface of the first supporting portion (61), and the top surface area of ​​the first fixing plate (63) is larger than the bottom surface area of ​​the first supporting portion (61).

[0116] A8. The calibration tool as described in claim A7 is characterized in that it also includes a positioning pin (3), a plurality of first upper positioning holes (65) are formed through the area where the top surface of the first fixing plate (63) is not in contact with the bottom surface of the first supporting portion (61), and a plurality of first lower positioning holes (115) corresponding to the first upper positioning holes (65) are formed on the calibration tray (1), and the corresponding first upper positioning holes (65) and the first lower positioning holes (115) are arranged concentrically, and the positioning pin (3) passes through the first upper positioning hole (65) and the first lower positioning hole (115) from top to bottom in sequence to connect the first fixing plate (63) with the calibration tray (1).

[0117] A9. The calibration tool as described in claim A7 or A8 is characterized in that a first fixing block (64) is further provided below the first fixing plate (63), the top surface of the first fixing block (64) is in contact with the bottom surface of the first fixing plate (63), and the top surface area of ​​the first fixing block (64) is smaller than the bottom surface area of ​​the first fixing plate (63);

[0118] The calibration tray (1) is also provided with two first fixing block grooves (7) corresponding to the two first fixing blocks (64) one by one. The two first fixing blocks (64) are respectively placed in the two first fixing block grooves (7). The sizes of the first fixing blocks (64) and the first fixing block grooves (7) match each other.

[0119] A10. The calibration tool as described in claim A1, characterized in that a plurality of pillar assemblies (110) are provided on the calibration tray (1), each of the pillar assemblies (110) comprises a first pillar (111) and a second pillar (112) formed in one piece, the bottom surface of the first pillar (111) is fixedly connected to the calibration tray (1), the top surface of the first pillar (111) is in contact with the bottom surface of the second pillar (112), and the bottom surface area of ​​the second pillar (112) is smaller than the top surface area of ​​the first pillar (111);

[0120] The bottom surface of the self-guided robot (10) is provided with a plurality of base holes (9), the area of ​​each base hole (9) is smaller than the top surface area of ​​the first pillar (111), the designated position is: the position of the base hole (9) corresponds to the position of the second pillar (112) one by one, and the plurality of base holes (9) on the bottom surface of the self-guided robot (10) are arranged one by one on the second pillar (112).

[0121] A11. The calibration tool as described in claim A10 is characterized in that a second fixing plate (113) is further provided below the first pillar (111), the bottom surface of the second fixing plate (113) is fixedly connected to the calibration tray (1), the top surface of the second fixing plate (113) is in contact with the bottom surface of the first pillar (111), and the top surface area of ​​the second fixing plate (113) is larger than the bottom surface area of ​​the first pillar (111).

[0122] A12. The calibration tool as described in claim A11 is characterized in that it also includes a positioning pin (3), and a plurality of second upper positioning holes (66) are formed through the area where the top surface of the second fixing plate (113) is not in contact with the bottom surface of the first pillar (111), and a plurality of second lower positioning holes (116) corresponding to the second upper positioning holes (66) are formed on the calibration tray (1), and the corresponding second upper positioning holes (66) and the second lower positioning holes (116) are arranged concentrically, and the positioning pin (3) passes through the second upper positioning holes (66) and the second lower positioning holes (116) from top to bottom in sequence to connect the second fixing plate (113) with the calibration tray (1).

[0123] A13. The calibration tool as described in claim A11 or A12, characterized in that a second fixing block (114) is further provided below the second fixing plate (113), the top surface of the second fixing block (114) is in contact with the bottom surface of the second fixing plate (113), and the top surface area of ​​the second fixing block (114) is smaller than the bottom surface area of ​​the second fixing plate (113);

[0124] The calibration tray (1) is also provided with a plurality of second fixing block grooves (8) corresponding one-to-one to the plurality of second fixing blocks (114); the plurality of second fixing blocks (114) are respectively placed in the plurality of second fixing block grooves (8); and the sizes of the second fixing blocks (114) and the second fixing block grooves (8) match each other.

[0125] A14. The calibration tool as described in claim A6, characterized in that the top of the second supporting portion (62) is chamfered.

[0126] A15. The calibration tool as described in claim A10, characterized in that the top of the second pillar (112) is chamfered.

[0127] A16. A calibration method, using the calibration tool as described in any one of claims A1 to A15, characterized in that the method comprises:

[0128] Placing a self-guided robot (10) at a designated position on a calibration tray (1) so that there is a distance between the self-guided robot (10) and the calibration mark, and the orthographic projection of the designated point of the self-guided robot (10) on a horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of the image sensor (103) on the self-guided robot (10);

[0129] Collecting images through an image sensor (103) installed on the self-guided robot (10);

[0130] Determine, according to the acquired image, the position of the calibration mark contained in the image;

[0131] The installation error of the image sensor (103) is calibrated according to the position of the calibration mark in the image.

[0132] A17. The method as claimed in claim A16, characterized in that, according to the acquired image, determining the position of the calibration mark contained in the image in the image specifically comprises:

[0133] performing image processing on the image to identify a pattern contained in the image;

[0134] Determining a pattern of the calibration mark among the patterns included in the image;

[0135] Determining, according to the pattern of the calibration mark, a position of the calibration mark contained in the image in the image;

[0136] The image processing includes at least one of grayscale, color inversion, filtering, and edge detection.

[0137] A18. The method according to claim A17, characterized in that determining the pattern of the calibration mark in the pattern contained in the image specifically comprises:

[0138] Obtaining a standard pattern of the calibration mark;

[0139] For each pattern contained in the image, determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold;

[0140] If yes, the pattern is used as the pattern of the calibration mark.

[0141] A19. The method according to claim A18, characterized in that determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold specifically comprises:

[0142] Determine whether the difference between the length of the pattern outline and the length of the standard pattern outline is less than a preset first threshold; and / or,

[0143] Determining whether a difference between an area of ​​the pattern and an area of ​​the standard pattern is less than a preset second threshold;

[0144] When the judgment result is yes, it is judged that the similarity between the pattern and the standard pattern is less than a preset similarity threshold.

[0145] A20. The method according to claim A16, characterized in that the installation error of the image sensor (103) is calibrated according to the position of the calibration mark in the image, specifically comprising:

[0146] Using the pattern of the calibration mark as the designated pattern;

[0147] Taking the designated point as the coordinate origin, determining the position coordinates of the center point of the designated pattern in the image and the rotation angle of the designated pattern;

[0148] Determining an offset of the image sensor (103) according to the position coordinates;

[0149] The installation error of the image sensor (103) is calibrated according to the offset and the rotation angle.

[0150] A21. The method as claimed in claim A16, characterized in that after calibrating the image sensor (103), the method further comprises:

[0151] Compensating for an installation error of the image sensor (103) according to the calibrated image sensor (103);

[0152] The self-guided robot (10) is controlled according to the compensated installation error.

Claims

1. A calibration tool for calibrating an image sensor (103) in a self-guided robot (10), characterized in that: include: A calibration tray (1) for carrying a self-guided robot (10); A calibration top plate (2) disposed on the calibration tray (1); The upper surface of the calibration tray (1) and / or the lower surface of the calibration top plate (2) are provided with calibration marks, and the calibration marks include a first calibration mark (4) and a second calibration mark (5); When the self-guided robot (10) is placed at a designated position on the calibration tray (1), there is a distance between the self-guided robot (10) and the calibration mark, and the orthographic projection of the designated point of the self-guided robot (10) on the horizontal plane coincides with the orthographic projection of the center point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of the image sensor (103) on the self-guided robot (10), The calibration tray (1) is provided with a plurality of support pillar assemblies (110), and the bottom surface of the self-guided robot (10) is provided with a plurality of base holes (9).

2. The calibration tool as claimed in claim 1, characterized in that: The first calibration mark (4) is arranged on the upper surface of the calibration tray (1), and the second calibration mark (5) is arranged on the lower surface of the calibration top plate (2), wherein the projections of the center point of the second calibration mark (5), the center point of the standard installation position of the upward image sensor (103) in the self-guided robot (10), and the center point of the standard installation position of the downward image sensor (103) in the self-guided robot (10) on the calibration tray (1) respectively coincide with the center point of the first calibration mark (4); There is a distance between the upward image sensor (103) in the self-guided robot (10) and the second calibration mark (5), and there is also a distance between the downward image sensor (103) in the self-guided robot (10) and the first calibration mark (4).

3. The calibration tool as claimed in claim 2, characterized in that: The calibration top plate (2) is detachably connected to the calibration tray (1).

4. The calibration tool as claimed in claim 3, characterized in that: The calibration top plate (2) takes the central point of the second calibration mark (5) as the symmetry center and presents a bilaterally symmetrical structure.

5. The calibration tool as claimed in claim 3 or 4, characterized in that: A second calibration mark (5) is provided on the upper surface of the calibration top plate (2), and a second calibration mark (5) is also provided on the lower surface of the calibration top plate (2), and the projections of the center points of the two second calibration marks (5) on the calibration tray (1) respectively coincide with the center point of the first calibration mark (4).

6. The calibration tool as claimed in claim 1 or 3, characterized in that: Two support members (6) are vertically arranged on both sides of the upper surface of the calibration tray (1), each of the support members (6) comprises a first support portion (61) and a second support portion (62) which are integrally formed, the height of the first support portion (61) being greater than the height of the second support portion (62), the bottom surface of the first support portion (61) being fixedly connected to the calibration tray (1), the top surface of the first support portion (61) being in contact with the bottom surface of the second support portion (62), and the bottom surface area of ​​the second support portion (62) being smaller than the top surface area of ​​the first support portion (61); A fixing hole (21) is provided at each end of the calibration top plate (2), the areas of the two fixing holes (21) are both smaller than the top surface area of ​​the first support portion (61), and the two fixing holes (21) are respectively sleeved on the second support portions (62) of the two support members (6).

7. The calibration tool as claimed in claim 6, characterized in that: A first fixing plate (63) is also provided below the first supporting portion (61); the bottom surface of the first fixing plate (63) is fixedly connected to the calibration tray (1); the top surface of the first fixing plate (63) is in contact with the bottom surface of the first supporting portion (61); and the top surface area of ​​the first fixing plate (63) is larger than the bottom surface area of ​​the first supporting portion (61).

8. The calibration tool as claimed in claim 7, characterized in that: It also includes a positioning pin (3), a plurality of first upper positioning holes (65) are formed through the area of ​​the top surface of the first fixing plate (63) that is not in contact with the bottom surface of the first supporting portion (61), and a plurality of first lower positioning holes (115) corresponding to the first upper positioning holes (65) are formed on the calibration tray (1), and the corresponding first upper positioning holes (65) and the first lower positioning holes (115) are arranged concentrically, and the positioning pin (3) passes through the first upper positioning holes (65) and the first lower positioning holes (115) in sequence from top to bottom to connect the first fixing plate (63) to the calibration tray (1).

9. The calibration tool as claimed in claim 7 or 8, characterized in that: A first fixing block (64) is further provided below the first fixing plate (63), the top surface of the first fixing block (64) is in contact with the bottom surface of the first fixing plate (63), and the top surface area of ​​the first fixing block (64) is smaller than the bottom surface area of ​​the first fixing plate (63); The calibration tray (1) is also provided with two first fixing block grooves (7) corresponding one to one with the two first fixing blocks (64); the two first fixing blocks (64) are respectively placed in the two first fixing block grooves (7); and the sizes of the first fixing blocks (64) and the first fixing block grooves (7) match each other.

10. The calibration tool as claimed in claim 1, characterized in that: Each of the pillar assemblies (110) comprises an integrally formed first pillar (111) and a second pillar (112), the bottom surface of the first pillar (111) being fixedly connected to the calibration tray (1), the top surface of the first pillar (111) being in contact with the bottom surface of the second pillar (112), and the bottom surface area of ​​the second pillar (112) being smaller than the top surface area of ​​the first pillar (111); The area of ​​each base hole (9) is smaller than the top surface area of ​​the first pillar (111), and the designated position is: the position of the base hole (9) corresponds one-to-one to the position of the second pillar (112), and a plurality of the base holes (9) on the bottom surface of the self-guided robot (10) are arranged one by one on the second pillar (112).

11. The calibration tool as claimed in claim 10, characterized in that: A second fixing plate (113) is also provided below the first pillar (111); the bottom surface of the second fixing plate (113) is fixedly connected to the calibration tray (1); the top surface of the second fixing plate (113) is in contact with the bottom surface of the first pillar (111); and the top surface area of ​​the second fixing plate (113) is larger than the bottom surface area of ​​the first pillar (111).

12. The calibration tool as claimed in claim 11, characterized in that: It also includes a positioning pin (3), a plurality of second upper positioning holes (66) are formed through the area of ​​the top surface of the second fixing plate (113) that is not in contact with the bottom surface of the first pillar (111), and a plurality of second lower positioning holes (116) are formed on the calibration tray (1) that correspond one-to-one to the second upper positioning holes (66), and the one-to-one corresponding second upper positioning holes (66) and the second lower positioning holes (116) are arranged concentrically, and the positioning pin (3) passes through the second upper positioning holes (66) and the second lower positioning holes (116) in sequence from top to bottom to connect the second fixing plate (113) to the calibration tray (1).

13. The calibration tool as claimed in claim 11 or 12, characterized in that: A second fixing block (114) is further provided below the second fixing plate (113), the top surface of the second fixing block (114) is in contact with the bottom surface of the second fixing plate (113), and the top surface area of ​​the second fixing block (114) is smaller than the bottom surface area of ​​the second fixing plate (113); The calibration tray (1) is also provided with a plurality of second fixing block grooves (8) corresponding one-to-one to the plurality of second fixing blocks (114); the plurality of second fixing blocks (114) are respectively placed in the plurality of second fixing block grooves (8); and the sizes of the second fixing blocks (114) and the second fixing block grooves (8) match each other.

14. The calibration tool as claimed in claim 6, characterized in that: The top of the second supporting portion (62) is chamfered.

15. The calibration tool as claimed in claim 10, characterized in that: The top of the second pillar (112) is chamfered.

16. A calibration method, using the calibration tool according to any one of claims 1 to 15, characterized in that: The method comprises: Placing a self-guided robot (10) at a designated position on a calibration tray (1) such that there is a distance between the self-guided robot (10) and the calibration mark, and an orthographic projection of the designated point of the self-guided robot (10) on a horizontal plane coincides with an orthographic projection of a center point of the calibration mark on a horizontal plane, wherein the designated point is a standard installation position of an image sensor (103) on the self-guided robot (10); Collecting images through an image sensor (103) installed on the self-guided robot (10); Determine, according to the acquired image, the position of the calibration mark contained in the image; The installation error of the image sensor (103) is calibrated according to the position of the calibration mark in the image.

17. The method according to claim 16, characterized in that Determining, according to the acquired image, a position of the calibration mark contained in the image, specifically includes: performing image processing on the image to identify a pattern contained in the image; Determining a pattern of the calibration mark among the patterns included in the image; Determining, according to the pattern of the calibration mark, a position of the calibration mark contained in the image in the image; The image processing includes at least one of grayscale, color inversion, filtering, and edge detection.

18. The method according to claim 17, characterized in that Determining the pattern of the calibration mark from the pattern contained in the image specifically includes: Obtaining a standard pattern of the calibration mark; For each pattern contained in the image, determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold; If yes, the pattern is used as the pattern of the calibration mark.

19. The method according to claim 18, characterized in that Determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold specifically includes: Determine whether the difference between the length of the pattern outline and the length of the standard pattern outline is less than a preset first threshold; and / or, Determining whether a difference between an area of ​​the pattern and an area of ​​the standard pattern is less than a preset second threshold; When the judgment result is yes, it is judged that the similarity between the pattern and the standard pattern is less than a preset similarity threshold.

20. The method of claim 16, wherein: Calibrating the installation error of the image sensor (103) according to the position of the calibration mark in the image, specifically comprising: Using the pattern of the calibration mark as the designated pattern; Taking the designated point as the coordinate origin, determining the position coordinates of the center point of the designated pattern in the image and the rotation angle of the designated pattern; Determining an offset of the image sensor (103) according to the position coordinates; The installation error of the image sensor (103) is calibrated according to the offset and the rotation angle.

21. The method of claim 16, wherein: After calibrating the image sensor (103), the method further comprises: Compensating for an installation error of the image sensor (103) according to the calibrated image sensor (103); The self-guided robot (10) is controlled according to the compensated installation error.

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