Calibration device

Abstract

The utility model provides calibration equipment. The calibration equipment comprises a bottom frame, a left-right swing assembly, a first support, a front-back swing assembly, a second support, a calibration plate and a jig assembly. The left-right swing assembly is installed on the bottom frame. The first support is connected with the left-right swing assembly which is used for driving the first support to swing left and right. The front-back swing assembly is installed on the first support. The second support is rotationally installed on the first support and connected with the front-back swing assembly. The front-back swing assembly is used for driving the second support to swing front and back. The calibration plate is mounted on the second bracket; the jig assembly is installed on the bottom frame. The fixing jig is installed on the jig assembly, is opposite to the calibration plate, and is used for fixing equipment to be calibrated. According to the calibration device, the calibration plate is driven to swing left and right and front and back through the left-right swing assembly and the front-back swing assembly, real calibration plate images of all postures in the front, back, left and right directions can be obtained, multi-angle calibration is achieved, the calibration precision is improved, and the operation simplicity is improved.

Description

Technical Field

[0001] The present application belongs to the field of calibration technology, and more specifically, relates to a calibration device. Background Art

[0002] A 3D scanner can scan the shape, appearance and other 3D data of an object or target space. Before using a 3D scanner, it is generally necessary to calibrate the internal and external parameters of the 3D scanner. During the calibration process, the relative position between the calibration plate and the 3D scanner needs to be constantly changed to obtain calibration images with different postures and calculate the internal and external parameters.

[0003] The calibration equipment can be used to complete the internal and external parameter calibration of the 3D scanner. The calibration equipment usually includes a fixing and a calibration plate. The calibration plate can only swing left and right, and can only change the position of the calibration plate in the left and right directions. The calibration of the posture in the front and back directions can only be simulated by software and the line laser cannot be truly calibrated. The calibration accuracy is relatively low, or the user can only adjust the 3D scanner by holding the 3D scanner to obtain the calibration plate images in different front and back postures. The operation is very complicated and has certain requirements on the user's technical ability. If the user has poor technical ability, it is easy to fail the calibration or the calibration accuracy is poor. Utility Model Content

[0004] The purpose of the embodiments of the present application is to provide a calibration device to solve the technical problems in the prior art of complex calibration operation and poor calibration accuracy of the posture of a three-dimensional scanner in the front and rear directions.

[0005] To achieve the above-mentioned purpose, the technical solution adopted in the present application is: to provide a calibration device, including a base frame, a left-right swing assembly, a first bracket, a front-back swing assembly, a second bracket, a calibration plate and a fixture assembly; the left-right swing assembly is installed on the base frame; the first bracket is connected to the left-right swing assembly, and the left-right swing assembly is used to drive the first bracket to swing left and right; the front-back swing assembly is installed on the first bracket; the second bracket is rotatably installed on the first bracket and connected to the front-back swing assembly, and the front-back swing assembly is used to drive the second bracket to swing back and forth; the calibration plate is installed on the second bracket; the fixture assembly is installed on the base frame and opposite to the calibration plate, and is used to fix the device to be calibrated.

[0006] Optionally, the left and right swing assembly includes a base, a first driving member and a turntable; the base is mounted on the base frame; the first driving member is mounted on the base; the turntable is connected to the first driving member, and the first bracket is mounted on the turntable.

[0007] Optionally, the left-right swing assembly also includes a first stop and a first limiting member, the first stop is installed on the turntable or the first bracket; the first limiting member is installed on the base and is located in the swing path of the first stop, and the first limiting member is used to cooperate with the first stop to limit the left-right swing angle of the first bracket.

[0008] Optionally, the first bracket includes an upper crossbeam, a right vertical beam, a lower crossbeam and a left vertical beam; the upper crossbeam, the right vertical beam, the lower crossbeam and the left vertical beam are sequentially connected and enclosed to form a frame structure; the lower crossbeam is installed on the left and right swing components, and the second bracket is rotatably installed in the frame structure.

[0009] Optionally, the front-rear swing assembly includes a second driving member, a coupling and a rotating shaft; the second driving member is mounted on the first bracket; the coupling is connected to the output shaft of the second driving member; one end of the rotating shaft is connected to the second bracket, and the other end is connected to the coupling.

[0010] Optionally, the front-to-rear swing assembly also includes a second stop and a second limiter, the second stop is mounted on the second bracket; the second limiter is mounted on the first bracket and is located in the swing path of the second stoper, and the second limiter is used to cooperate with the second stoper to limit the front-to-rear swing angle of the second bracket.

[0011] Optionally, the fixture assembly includes a third bracket, a lifting structure, a third driving member and a fixed fixture; the third bracket is installed on the base frame; the lifting structure is slidably connected to the third bracket, the third driving member is installed on the third bracket and connected to the lifting structure, the third driving member is used to drive the lifting structure to move up and down, and the fixed fixture is installed on the lifting structure.

[0012] Optionally, the fixing fixture includes a carrying platform and a fixing member; the carrying platform is installed on the lifting structure; the fixing member is installed on the carrying platform, and the fixing member is provided with a plurality of fixing positions along the up and down directions, and each fixing position is used to fix one of the devices to be calibrated.

[0013] Optionally, the supporting platform includes a bottom side plate, a left side plate, a right side plate and a supporting plate: the bottom side plate is fixedly mounted on the lifting structure; the left side plate and the right side plate are respectively mounted on the left and right sides of the bottom side plate; the supporting plate is mounted on the left side plate and the right side plate, and extends relative to the left side plate and the right side plate in the direction of the calibration plate, and the fixing member is mounted on one end of the supporting plate away from the left side plate and the right side plate.

[0014] Optionally, the base frame is provided with a bottom rail extending in the front-to-back direction, and a slider is provided at the bottom of the jig assembly, and the slider is slidably connected to the bottom rail; and / or, the calibration device also includes a light source, which is arranged on the front side of the second bracket, and the light beam generated by the light source is projected onto the calibration plate.

[0015] The beneficial effect of the calibration device provided by the present application is that in the present application, the calibration plate is driven to swing left and right by the left and right swinging component, and the calibration plate is driven to swing forward and backward by the front and back swinging component, so that a real calibration plate image of various front, back, left and right postures can be obtained, multi-angle calibration is realized, the accuracy of calibration is improved, and the technical ability of the user is not required to be high, which improves the ease of operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0017] Figure 1 A schematic diagram of the three-dimensional structure of a calibration device provided in an embodiment of the present application;

[0018] Figure 2 A schematic diagram of the three-dimensional structure of a left-right swing component in a calibration device provided in an embodiment of the present application;

[0019] Figure 3 Schematic diagram of the assembly of the first bracket and the second bracket in a calibration device provided in an embodiment of the present application Figure 1 ;

[0020] Figure 4 Schematic diagram of the assembly of the first bracket and the second bracket in a calibration device provided in an embodiment of the present application Figure 2 ;

[0021] Figure 5 Schematic diagram of the assembly of the first bracket and the second bracket in a calibration device provided in an embodiment of the present application Figure 3 ;

[0022] Figure 6 A schematic diagram of the three-dimensional structure of a fixture assembly (excluding a fixed fixture) in a calibration device provided in an embodiment of the present application;

[0023] Figure 7 A schematic diagram of the three-dimensional structure of a fixed fixture in a calibration device provided in an embodiment of the present application.

[0024] Among them, the reference numerals in the figure are:

[0025] 10- bottom frame;

[0026] 20-left and right swing assembly; 21-base; 22-first driving member; 23-turntable; 24-first stop member; 25-first limit member;

[0027] 30-first bracket; 31-upper cross beam; 32-right vertical beam; 33-lower cross beam; 34-left vertical beam; 35-transfer structure;

[0028] 40-front and rear swing assembly; 41-second driving member; 42-coupling; 43-rotating shaft; 44-second stopper; 45-second limiting member;

[0029] 50- second bracket;

[0030] 60- calibration plate;

[0031] 70-jig assembly;

[0032] 71-third bracket; 711-bottom panel; 712-left support plate; 713-right support plate; 714-upper top plate;

[0033] 72-lifting structure; 715-slide rail; 721-bottom plate; 722-left plate; 723-right plate; 724-sliding block; 725-lifting rod; 726-matching part;

[0034] 73 - third driving member;

[0035] 74-fixing fixture; 741-fixing piece; 742-bottom side plate; 743-left side plate; 744-right side plate; 745-carrying plate;

[0036] 80-light source;

[0037] 90-Control device. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] See also Figure 1 , the calibration device provided by the embodiment of the present application is now described. The calibration device includes a base frame 10, a left-right swing assembly 20, a first bracket 30, a front-back swing assembly 40, a second bracket 50, a calibration plate 60 and a fixture assembly 70; the left-right swing assembly 20 is installed on the base frame 10; the first bracket 30 is connected to the left-right swing assembly 20, and the left-right swing assembly 20 is used to drive the first bracket 30 to swing left and right; the front-back swing assembly 40 is installed on the first bracket 30; the second bracket 50 is rotatably installed on the first bracket 30 and connected to the front-back swing assembly 40, and the front-back swing assembly 40 is used to drive the second bracket 50 to swing back and forth; the calibration plate 60 is installed on the second bracket 50; the fixture assembly 70 is installed on the base frame 10; and is opposite to the calibration plate 60; the fixture assembly 70 is used to fix the device to be calibrated.

[0043] Compared with the prior art, the calibration device provided in the embodiment of the present application, in the present embodiment, drives the calibration plate 60 to swing left and right through the left and right swing component 20; drives the calibration plate 60 to swing forward and backward through the front and back swing component 40, so that the real calibration plate 60 image in various postures of front, back, left and right can be obtained, thereby realizing multi-angle calibration, improving the accuracy of calibration, and not requiring high technical ability of the user, thereby improving the ease of operation.

[0044] In one embodiment of the present application, see Figure 2 The left and right swing assembly 20 includes a base 21, a first driving member 22 and a turntable 23; the base 21 is mounted on the base frame 10; the first driving member 22 is mounted on the base 21; the turntable 23 is connected to the first driving member 22, and the first bracket 30 is mounted on the turntable 23.

[0045] In this embodiment, the first driving member 22 is provided to drive the turntable 23 to rotate, and the turntable 23 and the base 21 can support the first bracket 30. The first bracket 30 has good stability when rotating, and can avoid shaking when the turntable 23 rotates. Specifically, the first driving member 22 can be a driving motor.

[0046] In one embodiment of the present application, see Figure 2 The left-right swing assembly 20 also includes a first stopper 24 and a first limiting member 25. The first stopper 24 is mounted on the turntable 23 or the first bracket 30; the first limiting member 25 is mounted on the base 21 and is located in the swinging path of the first stopper 24. The first limiting member 25 is used to cooperate with the first stopper 24 to limit the left-right swinging angle of the first bracket.

[0047] In this embodiment, the first stopper 24 and the first limiter 25 are provided to limit the swing angle of the first bracket 30. Specifically, two first stoppers 24 and two first limiters 25 are provided respectively, which respectively limit the maximum angle of the first bracket 30 when it swings leftward and when it swings rightward.

[0048] In one embodiment of the present application, please refer to Figure 3 and Figure 4 The first bracket 30 includes an upper cross beam 31, a right vertical beam 32, a lower cross beam 33 and a left vertical beam 34; the upper cross beam 31, the right vertical beam 32, the lower cross beam 33 and the left vertical beam 34 are connected in sequence to form a frame structure; the lower cross beam 33 is installed on the left and right swing components 20, and the second bracket 50 is rotatably installed in the frame structure.

[0049] In this embodiment, the first bracket 30 adopts a frame structure, which can facilitate the installation of the second bracket 50 and facilitate the second bracket 50 to swing back and forth.

[0050] In this embodiment, please refer to Figure 2 The first bracket 30 further includes a transfer structure 35, the lower cross beam 33 is fixedly connected to the transfer structure 35, and the transfer structure 35 is fixedly mounted on the turntable 23; the connection stability between the first bracket 30 and the left and right swinging assembly 20 can be improved by setting the transfer structure 35. The first stopper 24 can also be mounted on the transfer structure 35.

[0051] In one embodiment of the present application, please refer to Figure 4 and Figure 5 The front-rear swing assembly 40 includes a second driving member 41, a coupling 42 and a rotating shaft 43; the second driving member 41 is installed on the first bracket 30; the coupling 42 is connected to the output shaft of the second driving member 41; one end of the rotating shaft 43 is connected to the second bracket 50, and the other end of the rotating shaft 43 is connected to the coupling 42.

[0052] Specifically, two rotating shafts 43 can be provided, and the two rotating shafts 43 are coaxially arranged, one of the rotating shafts 43 is rotationally connected to the left vertical beam 34, and the other rotating shaft 43 is rotationally connected to the right vertical beam 32. The second driving member 41 can be installed on the left vertical beam 34, and the second driving member 41 is connected to the rotating shaft 43 connected to the left vertical beam 34 through the coupling 42; or the second driving member 41 is installed on the right vertical beam 32, and the second driving member 41 is connected to the rotating shaft 43 connected to the right vertical beam 32 through the coupling 42. The second driving member 41 can be a driving motor.

[0053] In one embodiment of the present application, see Figure 4 The front-rear swing assembly 40 also includes a second stop 44 and a second limiting member 45. The second stop 44 is installed on the second bracket 50. The second limiting member 45 is installed on the first bracket 30 and is located in the swing path of the second stop 44. The second limiting member 45 is used to cooperate with the second stop 44 to limit the front-rear swing angle of the second bracket 50.

[0054] In this embodiment, the second stopper 44 and the second limiter 45 are provided to limit the swing angle of the second bracket 50. Specifically, two second stoppers 44 and two second limiters 45 are provided, respectively, to limit the maximum angle of the second bracket 50 when swinging forward and when swinging backward.

[0055] Specifically, the second limiter 45 can be arranged on the left vertical beam 34, and correspondingly, the second stopper 44 is arranged at the left end of the second bracket 50; or, the second limiter 45 can be arranged on the right vertical beam 32, and correspondingly, the second stopper 44 is arranged at the right end of the second bracket 50. The second bracket 50 can be a plate, and the calibration plate 60 can be fixed on the second bracket 50 by bonding, clamping, fastener connection, etc.

[0056] In one embodiment of the present application, see Figure 6 The fixture assembly 70 includes a third bracket 71, a lifting structure 72 and a third driving member 73; the third bracket 71 is installed on the base frame 10; the lifting structure 72 is slidably connected to the third bracket 71; the third driving member 73 is installed on the third bracket 71 and connected to the lifting structure 72, and the third driving member 73 is used to drive the lifting structure 72 to move up and down; the fixed fixture 74 is installed on the lifting structure 72.

[0057] In this embodiment, by providing a lifting structure 72 , the fixed fixture 74 can be lifted or lowered, so that the calibrated device on the fixed fixture 74 can be more accurately aligned with the calibration plate 60 .

[0058] In one embodiment of the present application, see Figure 6The third bracket 71 includes a bottom panel 711, a left support plate 712, a right support plate 713 and an upper top plate 714; a first avoidance hole is provided on the upper top plate 714, and the lifting structure 72 can pass through the first avoidance hole and be slidably connected with the inner walls of the left support plate 712 and the right support plate 713.

[0059] In one embodiment of the present application, see Figure 6 The lifting structure 72 includes a bottom plate 721, a left plate 722 and a right plate 723; a sliding block 724 is provided on the outer wall of the left plate 722 and the right plate 723, and a sliding rail 715 is provided on the inner wall of the left support plate 712 and the right support plate 713, and the sliding block 724 is slidably connected with the sliding rail 715. By providing the sliding block 724 and the sliding rail 715, the direction of the lifting structure 72 when it is lifted up and down can be ensured.

[0060] In one embodiment of the present application, see Figure 6 The lifting assembly also includes a lifting rod 725, and the bottom plate 721 is provided with a matching portion 726 that matches the lifting rod 725. The lifting rod 725 is connected to the third driving member 73 by transmission, and the third driving member 73 can drive the lifting rod 725 to rotate. Specifically, the lifting rod 725 is a screw rod, and the matching portion 726 is a hole with an internal thread. By rotating the lifting rod 725, the bottom plate 721 can be driven to move up and down, thereby realizing the lifting and lowering of the lifting structure 72. A second avoidance hole is also provided on the bottom plate 721 corresponding to the third driving member 73, which is used to avoid the third driving member 73, so that the lifting structure 72 has a larger lifting space. The third driving member 73 can use a driving motor.

[0061] In one embodiment of the present application, see Figure 7 The fixing fixture 74 includes a bearing platform and a fixing member 741; the bearing platform is installed on the lifting structure 72; the fixing member 741 is installed on the bearing platform, and the fixing member 741 is provided with a plurality of fixing positions along the up and down directions, and each fixing position is used to fix a calibrated device.

[0062] In this embodiment, multiple fixing positions are set on the fixing member 741 to fix multiple three-dimensional scanners. After the calibration of one three-dimensional scanner is completed, it can be lifted and lowered by the lifting structure 72 so that the next three-dimensional scanner is opposite to the calibration plate 60, and the calibration of the next three-dimensional scanner is carried out to improve the calibration efficiency on the production line.

[0063] In one embodiment of the present application, see Figure 7The supporting platform includes a bottom side plate 742, a left side plate 743, a right side plate 744 and a supporting plate 745: the bottom side plate 742 is fixedly mounted on the lifting structure 72; the left side plate 743 and the right side plate 744 are respectively mounted on the left and right sides of the bottom side plate 742; the supporting plate 745 is mounted on the left side plate 743 and the right side plate 744, and extends relative to the left side plate 743 and the right side plate 744 in the direction of the calibration plate 60, and the fixing member 741 is mounted on one end of the supporting plate 745 away from the left side plate 743 and the right side plate 744.

[0064] In one embodiment of the present application, the base frame 10 is provided with a bottom rail extending in the front-to-back direction, and the fixture assembly 70 is provided with a slider, which is slidably connected to the bottom rail.

[0065] In this embodiment, by providing a slider and a bottom rail, the fixture assembly 70 can move forward and backward relative to the base frame 10, thereby adjusting the distance between the 3D scanner and the calibration plate 60. The calibration device may further include a fourth driving member for driving the fixture assembly 70 to slide forward and backward, and the fourth driving member may be a driving motor.

[0066] In one embodiment of the present application, please refer to Figure 1 and Figure 3 The calibration device also includes a light source 80 , which is disposed at the front side of the second bracket 50 , and the light beam generated by the light source 80 is projected onto the calibration plate 60 .

[0067] In this embodiment, a light source 80 is provided to supplement the light beam, so as to ensure that the three-dimensional scanner can capture a clear image of the calibration plate even in a dark environment, thereby improving the calibration accuracy.

[0068] Specifically, the light source 80 can be installed on the front side of the second bracket 50 through a bracket, the number of the light sources 80 can be two, and the two light sources 80 can be fixed to the left and right ends or the upper and lower ends of the second bracket 50. The light source 80 can be in a bar shape to make the supplementary light beam more uniform. The number of the light sources 80 can also be three, four or more.

[0069] In this embodiment, the supporting plate 745 includes a first part and a second part. The first part can be installed on the left plate 743 and the right plate 744 by fasteners, etc., and the second part is closer to the calibration plate 60 and extends out of the jig assembly 70 toward the calibration plate 60. In this way, during close-range calibration, the three-dimensional scanner can be located between the two light sources 80 and between the light source 80 and the calibration plate 60 without being interfered by the two light sources 80.

[0070] In one embodiment of the present application, see Figure 1The calibration equipment may also include a control device 90, which may be connected to the left and right swing assembly 20, the front and back swing assembly 40 and the fixture assembly 70 to control left and right swing, front and back swing, front and back translation, up and down lifting, etc. The control device 90 may be a computer, a display screen, etc.

[0071] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A calibration device, characterized in that: include: chassis; A left-right swing assembly is mounted on the base frame; A first bracket, connected to the left-right swing assembly, and the left-right swing assembly is used to drive the first bracket to swing left-right; A front-rear swing assembly, mounted on the first bracket; A second bracket is rotatably mounted on the first bracket and connected to the front-rear swing assembly, wherein the front-rear swing assembly is used to drive the second bracket to swing back and forth; A calibration plate, mounted on the second bracket; A fixture assembly is installed on the base frame and opposite to the calibration plate, and is used to fix the device to be calibrated.

2. The calibration device according to claim 1, characterized in that: The left and right swinging assembly comprises: A base, mounted on the base frame; A first driving member, mounted on the base; and A turntable is connected to the first driving member, and the first bracket is installed on the turntable.

3. The calibration device according to claim 2, characterized in that: The left and right swinging assembly also includes: A first stopper, mounted on the turntable or the first bracket; The first limiter is installed on the base and is located in the swing path of the first stopper. The first limiter is used to cooperate with the first stopper to limit the left-right swing angle of the first bracket.

4. The calibration device according to claim 1, characterized in that: The first bracket includes an upper crossbeam, a right vertical beam, a lower crossbeam and a left vertical beam; the upper crossbeam, the right vertical beam, the lower crossbeam and the left vertical beam are sequentially connected and enclosed to form a frame structure; the lower crossbeam is installed on the left and right swing components, and the second bracket is rotatably installed in the frame structure.

5. The calibration device according to claim 1, characterized in that: The front and rear swing assembly comprises: A second driving member, mounted on the first bracket; a coupling connected to the output shaft of the second driving member; and A rotating shaft has one end connected to the second bracket and the other end connected to the coupling.

6. The calibration device according to claim 5, characterized in that: The front and rear swing assembly also includes: a second stopper, mounted on the second bracket; The second limiter is installed on the first bracket and is located in the swing path of the second stopper. The second limiter is used to cooperate with the second stopper to limit the front and rear swing angle of the second bracket.

7. The calibration device according to claim 1, characterized in that: The fixture assembly comprises: A third bracket, mounted on the base frame; A lifting structure, slidably connected to the third bracket; A third driving member, mounted on the third bracket and connected to the lifting structure, the third driving member being used to drive the lifting structure to move up and down; and A fixed fixture is installed on the lifting structure.

8. The calibration device according to claim 7, characterized in that: The fixing fixture comprises: A bearing platform, mounted on the lifting structure; and A fixing member is installed on the supporting platform, and the fixing member is provided with a plurality of fixing positions along the up-down direction, and each of the fixing positions is used to fix one of the devices to be calibrated.

9. The calibration device according to claim 8, characterized in that: The carrying platform comprises: Bottom side plates, fixedly mounted on the lifting structure; A left side panel and a right side panel are respectively installed on the left and right sides of the bottom side panel; The bearing plate is installed on the left plate and the right plate and extends relative to the left plate and the right plate in the direction of the calibration plate. The fixing member is installed at one end of the bearing plate away from the left plate and the right plate.

10. The calibration device according to any one of claims 1 to 9, characterized in that: The bottom frame is provided with a bottom rail extending in the front-rear direction, and the bottom of the fixture assembly is provided with a slider, and the slider is slidably connected to the bottom rail; and / or, The calibration device also includes a light source, which is arranged at the front side of the second bracket, and the light beam generated by the light source is projected onto the calibration plate.

Images