Calibration device and automated guided vehicle system

Abstract

The utility model provides a calibration device which comprises a frame, the frame is provided with a base, supporting rods and a mounting beam, the supporting rods are arranged on the two sides of the base, and the mounting beam is erected at the top ends of the supporting rods; the guide seats are arranged on the two sides of the mounting beam in parallel, and a pointer is arranged on one side of each guide seat in an extending mode; the measuring shaft penetrates through the guide seat and can reciprocate in the guide seat, one side of the measuring shaft is provided with a graduated scale, the graduated scale is matched with a pointer on the guide seat for position measurement, and the end part of the other side of the measuring shaft is provided with a detection head. In addition, the utility model further provides an automatic guided vehicle system with a calibration function, and the automatic guided vehicle system adopts the calibration device.

Description

Technical Field

[0001] The utility model relates to the measurement and calibration of an automatic guided vehicle system, in particular to a novel calibration device and an automatic guided vehicle system. Background Art

[0002] AGV (Automated Guided Vehicle) is an automatic transport vehicle based on various positioning and navigation technologies that does not require human driving. As one of the automatic guided vehicles,

[0003] The ribbon-guided AGV uses its own camera to collect the ribbon image of the painted or pasted ribbon on the driving path and perform signal processing to achieve guidance. The camera of the ribbon-guided AGV is installed on the vehicle body through a connecting plate. In theory, the camera is installed exactly on the center line of the ribbon-guided AGV, but because the manufacturing process of the ribbon-guided AGV has no precision requirements for the camera connecting plate, the actual position of the camera is generally not on the center line.

[0004] During use, if the camera of the ribbon-guided AGV does not coincide with the center line, it will affect the normal operation of the line-side equipment of the ribbon-guided AGV. In addition, since dozens of ribbon-guided AGVs are used on the production line at the same time, if it is not possible to debug and calibrate based on the actual working conditions of each ribbon-guided AGV, it will inevitably affect the production efficiency of the entire production line. Utility Model Content

[0005] In view of the above problems of the prior art, the utility model proposes a calibration device, which is particularly suitable for ribbon-guided automatic guided vehicles. The calibration device is convenient for measuring and calibrating the camera position of a large number of ribbon-guided automatic guided vehicles, so that the camera position and the center line of the ribbon-guided automatic guided vehicle are kept coincident. The calibration device of the utility model has low cost and convenient operation, and can complete the calibration of a large number of automatic guided vehicles in a short time, and is suitable for application in large production lines.

[0006] According to one aspect of the utility model, a calibration device is provided, comprising:

[0007] A frame, the frame having a base, a support rod and a mounting beam, wherein the support rod is arranged on both sides of the base, and the mounting beam is erected on the top of the support rod;

[0008] A guide seat is arranged parallel to each other on both sides of the mounting beam, and a pointer is arranged on the extension of one side of the guide seat;

[0009] A measuring shaft passes through the guide seat and can reciprocate in the guide seat. A scale is arranged on one side of the measuring shaft. The scale cooperates with a pointer on the guide seat to measure the position. A detection head is installed at the end of the other side of the measuring shaft.

[0010] According to an embodiment of the utility model, in the above-mentioned calibration device, a guide groove is provided on the measuring shaft, and a guide pin adapted to the guide groove is provided on the inner wall of the guide seat.

[0011] According to an embodiment of the present invention, in the above-mentioned calibration device, the guide groove and the scale are arranged along the same straight line on the measuring axis.

[0012] According to an embodiment of the utility model, in the above-mentioned calibration device, the measuring shaft has a countersunk hole, and the top end of the guide seat is equipped with a pull pin that passes through the side wall of the guide seat, and the end of the pull pin is suitable for inserting into the countersunk hole.

[0013] According to an embodiment of the present invention, in the above calibration device, the support rod of the frame is a height-adjustable lifting support rod.

[0014] According to another aspect of the utility model, an automatic guided vehicle system with a calibration function is provided, comprising:

[0015] A calibration device as discussed above;

[0016] Automated guided vehicles, including:

[0017] Vehicle body;

[0018] A tray is arranged on the top of the vehicle body, and the side wall of the tray is kept in the same height as the detection head of the measuring axis of the calibration device;

[0019] The camera is arranged on one side of the vehicle body through a connecting plate, wherein the relative position between the camera and the connecting plate is adjustable.

[0020] According to an embodiment of the present invention, in the above-mentioned automatic guided vehicle system, the automatic guided vehicle is a ribbon-guided automatic guided vehicle.

[0021] According to an embodiment of the present invention, in the above-mentioned automatic guided vehicle system, the relative position between the camera and the connecting plate is adjusted by adding or subtracting the number of inserts between the two.

[0022] It should be understood that the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the present invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are included to provide a further understanding of the present invention, and they are included and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with this specification serve to explain the principles of the present invention. In the accompanying drawings:

[0024] Figure 1 It is a schematic diagram of an embodiment of a calibration device according to the utility model.

[0025] Figure 2 It is a schematic diagram of an embodiment of an automatic guided vehicle system according to the utility model.

[0026] Figure 3 The partial structure of the camera and the connecting board is shown.

[0027] Figure 4 It is a partial side view of the automatic guided vehicle system.

[0028] Description of reference numerals:

[0029] 1 Calibration device

[0030] 2 Automated Guided Vehicles

[0031] 10 Framework

[0032] 20 Guide seat

[0033] 30 Measuring axis

[0034] 11. Base

[0035] 12 Support rod

[0036] 13 Install the beam

[0037] 21 Pointer

[0038] 22 Pulling Pin

[0039] 31 Ruler

[0040] 32 Detection head

[0041] 33 Guide groove

[0042] 41 Body

[0043] 42 Pallets

[0044] 43 Camera

[0045] 44 Connecting plate

[0046] 45 Insert

[0047] G Paint or ribbon DETAILED DESCRIPTION

[0048] Embodiments of the utility model will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to preferred embodiments of the utility model, examples of which are shown in the accompanying drawings. Wherever possible, the same reference numerals will be used in all drawings to represent the same or similar parts. In addition, although the terms used in the utility model are selected from well-known and commonly used terms, some of the terms mentioned in the utility model specification may be selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant parts of the description herein. In addition, it is required to understand the utility model not only by the actual terms used, but also by the meaning implied by each term.

[0049] The basic principle and preferred embodiments of the present invention are discussed in more detail with reference to the accompanying drawings. Figure 1 The calibration device 1 of the utility model mainly includes a frame 10, a guide seat 20 and a measuring shaft 30.

[0050] The frame 10 has a base 11, a support rod 12 and a mounting beam 13. The support rod 12 is disposed on both sides of the base 11. The mounting beam 13 is mounted on the top of the support rod 12. Figure 1 In the illustrated embodiment, the support rods 12 of the frame 10 are in the form of vertical rods of fixed height, but in other embodiments, the support rods 12 may be height-adjustable lift-type support rods to accommodate a wider range of automated guided vehicles of different heights.

[0051] A pair of guide seats 20 are arranged parallel to each other on both sides of the mounting beam 13. A pointer 21 is arranged on one side of each guide seat 20.

[0052] The measuring shaft 30 passes through the guide seat 20 and can reciprocate in the guide seat 20. Figure 4 As shown more clearly in FIG. 1 , a scale 31 is provided on one side of the measuring shaft 30. The scale 31 cooperates with the pointer 21 on the guide seat 20 to perform position measurement. In addition, a detection head 32 is installed at the end of the other side of the measuring shaft 30.

[0053] According to an embodiment of the utility model, a guide groove 33 can be further provided on the measuring shaft 30. Accordingly, a guide pin (not shown) adapted to the guide groove 33 is provided on the inner wall of the guide seat 20. The guide pin is inserted into the guide groove 33, thereby preventing the measuring shaft 30 from rotating along the axial direction.

[0054] exist Figure 1 In the illustrated embodiment, the guide groove 33 and the scale 31 are arranged along the same straight line on the measuring axis 30. Of course, the present invention is not limited thereto.

[0055] In addition, a countersunk hole (not shown) may be provided on the measuring shaft 30. Accordingly, a pull pin 22 penetrating the side wall of the guide seat 20 is installed at the top end of the guide seat 20. The end of the pull pin 22 is suitable for inserting into the countersunk hole. When the calibration device 1 is not working, the measuring shaft 30 can be moved left and right so that the pull pin 22 enters the countersunk hole of the measuring shaft 30, thereby fixing the measuring shaft 30 so that it does not move left and right.

[0056] Go to Figure 2 , which shows an embodiment of an automatic guided vehicle system with calibration function according to the utility model. The automatic guided vehicle system mainly includes: Figure 1 The calibration device 1 and the automatic guided vehicle 2 are shown. Figure 2 In the illustrated embodiment, the AGV 2 is a ribbon-guided AGV, wherein the symbol G indicates a painted or pasted ribbon on the driving path.

[0057] The automatic guided vehicle 2 further includes: a vehicle body 41, a tray 42, a camera 43 and a connecting plate 44. The tray 42 is arranged on the top of the vehicle body 41. The side wall of the tray 42 is consistent with the height of the detection head 32 of the measuring axis 30 of the calibration device 1. The camera 43 is arranged on one side of the vehicle body 41 through the connecting plate 44. The relative position between the camera 43 and the connecting plate 44 is adjustable.

[0058] Figure 3 is a partial enlarged view of the camera 43 and the connecting plate 44. Figure 3 In the illustrated embodiment, the relative position between the camera 43 and the connecting plate 44 is adjusted by adding or subtracting the number of the inserts 45 therebetween.

[0059] The following combination Figure 4 An embodiment of the process of calibrating dozens of automatic guided vehicles using the utility model will be briefly described.

[0060] First, when the calibration device 1 is in place, an AGV 2 with the smallest positional deviation and the best coordination with the line-side equipment is selected as a reference. A pallet 42 is installed above the AGV 2, and accurate position matching is achieved through positioning pins. Since there is no finely machined surface on the frame of the AGV 2, only the side surface of the pallet 42 is a finely machined surface, so the side surface of the pallet 42 is used as the measurement surface.

[0061] Pull out the pin 22 above the guide seat 20, move the measuring shaft 30, and make the detection head 32 close to the side surface of the tray 42. Align the zero position of the scale 31 on the measuring shaft 30 with the pointer 21 on the guide seat 20.

[0062] Next, move the other automated guided vehicles 2 to be calibrated normally to the same measurement position. Move the measuring axis 30 so that the detection head 32 is close to the side of the tray 42. Observe the position and value of the pointer 21 pointing to the scale 31. When the pointer 21 points to the scale to the right of the zero position of the scale 31, it means that the automated guided vehicle 2 is overall biased towards the direction of the calibration device 1 relative to the camera 43, and it is necessary to add an insert 45 with the same thickness as the scale. Conversely, when the pointer 21 points to the scale to the left of the zero position of the scale 31, it means that the automated guided vehicle 2 is overall biased towards the opposite direction of the calibration device 1 relative to the camera 43, and it is necessary to pull out the insert 45 with the same thickness as the scale.

[0063] Finally, until the pointer 21 is aligned with the zero position of the scale 31, the measurement and calibration of the position offset of an automatic guided vehicle 2 is completed.

[0064] In summary, the calibration device and the AGV system of the present application are particularly suitable for measuring and calibrating the camera position of a large number of AGVs, such as ribbon-guided AGVs, so that the camera position coincides with the center line of the AGV. The calibration device of the present invention has low cost and convenient operation, and can complete the calibration of a large number of AGVs in a short time, and is suitable for application in large production lines.

[0065] It will be apparent to those skilled in the art that various modifications and variations can be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention covers modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A calibration device (1), characterized in that: include: A frame (10), the frame (10) comprising a base (11), a support rod (12) and a mounting beam (13), wherein the support rod (12) is arranged on both sides of the base (11), and the mounting beam (13) is mounted on the top of the support rod (12); A guide seat (20) is arranged parallel to each other on both sides of the mounting beam (13), and a pointer (21) is extendedly arranged on one side of the guide seat (20); A measuring shaft (30) passes through the guide seat (20) and can reciprocate in the guide seat (20); a scale (31) is provided on one side of the measuring shaft (30); the scale (31) cooperates with a pointer (21) on the guide seat (20) to perform position measurement; a detection head (32) is installed at the end of the other side of the measuring shaft (30).

2. The calibration device (1) according to claim 1, characterized in that A guide groove (33) is provided on the measuring shaft (30), and a guide pin adapted to the guide groove (33) is provided on the inner wall of the guide seat (20).

3. The calibration device (1) according to claim 2, characterized in that The guide groove (33) and the scale (31) are arranged along the same straight line on the measuring axis (30).

4. The calibration device (1) according to claim 1, characterized in that The measuring shaft (30) has a countersunk hole, and the top end of the guide seat (20) is provided with a pull pin (22) penetrating the side wall of the guide seat (20), and the end of the pull pin (22) is suitable for being inserted into the countersunk hole.

5. The calibration device (1) according to claim 1, characterized in that The support rod (12) of the frame (10) is a height-adjustable lifting support rod.

6. An automatic guided vehicle system with a calibration function, characterized in that: include: A calibration device (1) as claimed in any one of claims 1 to 5; Automatic guided vehicle (2), including: Vehicle body (41); A tray (42) is arranged on the top of the vehicle body (41), and the side wall of the tray (42) is kept in the same height as the detection head (32) of the measuring shaft (30) of the calibration device (1); The camera (43) is arranged on one side of the vehicle body (41) via a connecting plate (44), wherein the relative position between the camera (43) and the connecting plate (44) is adjustable.

7. The automatic guided vehicle system according to claim 6, characterized in that: The automatic guided vehicle (2) is a ribbon-guided automatic guided vehicle.

8. The automatic guided vehicle system according to claim 6, characterized in that: The relative position between the camera (43) and the connecting plate (44) is adjusted by adding or subtracting the number of inserting pieces (45) therebetween.

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