Calibration device

Abstract

The utility model relates to the field of calibration, in particular to a calibration device used for calibrating an image acquisition assembly of a forklift, and the calibration device comprises a support which is used for being arranged on a pallet fork of the forklift and is provided with a positioning structure which is used for abutting against the side face of the pallet fork; and the calibration object is arranged on one side, facing the image acquisition assembly, of the bracket. By arranging the support, the support can be used for installing a calibration object. According to the calibration device, the positioning structure on the support abuts against the side face of the pallet fork of the forklift, the support can be positioned in the transverse direction of the forklift, the support can be accurately and rapidly installed on the pallet fork, and therefore the time needed for setting up the calibration device is shortened. According to the calibration device, the positioning structure is matched with the fork of the forklift in a positioning mode, so that the calibration device can be repeatedly installed and applied to the forks of the forklift of different types and different sizes, the repeatability of the calibration device is improved, and the problem that an operator repeatedly builds a support, and consequently repeated labor is caused is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of calibration, in particular to a calibration device. Background Art

[0002] With the development of intelligent technology and automation technology, the manufacturing industry has an increasing demand for automation and intelligence. Automated forklifts such as smart forklifts and unmanned forklifts can be used in high-intensity, repetitive, and dangerous situations, which can effectively reduce manual operations and improve work efficiency.

[0003] Automated forklifts are usually equipped with image acquisition components such as cameras or video cameras to acquire image information of objects such as cargo, pallets and obstacles to achieve operations such as cargo picking and placing, automatic obstacle avoidance and route planning. In order to improve the accuracy of the image acquired by the image acquisition component, the image acquisition component needs to be calibrated after installation to adjust the position, posture and shooting parameters of the image acquisition component.

[0004] In the process of image acquisition by the image acquisition component, in order to determine the relationship between the three-dimensional geometric position of a point on the surface of a spatial object and the corresponding point in the image, it is necessary to establish a geometric model of the position between the image acquired by the image acquisition component and the image acquisition component. These geometric model parameters are the camera parameters, and the process of solving the parameters is called camera parameter calibration. Its purpose is to use the actual coordinates and image coordinates of the calibration object to determine the internal geometric and optical characteristics of the camera (internal parameters) and the coordinate relationship of the camera in the three-dimensional world (external parameters).

[0005] In the prior art, when calibrating the image acquisition component, it is usually necessary to temporarily build a bracket, set the calibration object on the bracket, and use the image acquisition component to obtain image information of the calibration object to achieve calibration. This form of temporarily building a bracket requires building a bracket for each forklift, which is time-consuming and labor-intensive. Utility Model Content

[0006] The utility model provides a calibration device to solve the problem that a temporary bracket is used in the prior art to calibrate an image acquisition component, and a bracket needs to be built for each forklift, which is time-consuming and labor-intensive, thereby achieving an effect of improving the repeatability of the calibration device.

[0007] The utility model provides a calibration device for calibrating an image acquisition component of a forklift, the calibration device comprising:

[0008] A bracket, the bracket is used to be arranged on the fork of the forklift, and the bracket is provided with a positioning structure, the positioning structure is used to abut against the side of the fork to position the bracket in the transverse direction of the forklift;

[0009] A calibration object is arranged on a side of the bracket facing the image acquisition component.

[0010] According to a calibration device provided by the utility model, the bracket includes a fixing component and a sliding component;

[0011] Among them, the fixed component is provided with a guide structure, the guide structure extends along the transverse direction of the forklift, the sliding component is slidably connected to the guide structure, the fixed component and the sliding component are both provided with the positioning structure, and at least one of the fixed component and the sliding component is provided with the calibration object.

[0012] According to a calibration device provided by the utility model, the fixing assembly includes an adjustment plate, a first bottom plate and a first mounting plate;

[0013] Wherein, the first base plate is connected to the adjustment plate, the adjustment plate is provided with the guide structure, the first base plate is provided with the positioning structure, the first mounting plate is connected to the first base plate, and the first mounting plate is provided with the calibration object.

[0014] According to a calibration device provided by the utility model, the fixing assembly also includes a first reinforcement member, and the first reinforcement member is connected between the first base plate and the first mounting plate.

[0015] According to a calibration device provided by the utility model, two calibration objects are arranged on the bracket, and the two calibration objects correspond to the two forks respectively.

[0016] According to a calibration device provided by the utility model, the sliding assembly includes a second bottom plate and a second mounting plate.

[0017] Wherein, the second base plate is slidably connected to the guide structure, the second base plate is provided with the positioning structure, the second mounting plate is connected to the second base plate, and the calibration object is provided on the second mounting plate.

[0018] According to a calibration device provided by the utility model, it also includes a second reinforcement member, and the second reinforcement member is connected between the second bottom plate and the second mounting plate.

[0019] According to a calibration device provided by the utility model, the guide structure is configured as a guide block or a guide groove.

[0020] According to a calibration device provided by the utility model, it also includes a threaded locking member, which connects the guide structure and the sliding component and is used to lock or unlock the sliding component.

[0021] According to a calibration device provided by the utility model, the calibration object is set as a chessboard or a sphere.

[0022] The calibration device provided by the utility model is provided with a bracket, and the bracket can be used to install the calibration object. The positioning structure on the bracket is abutted against the side of the fork of the forklift, so that the bracket can be positioned in the lateral direction of the forklift, so that the bracket can be accurately and quickly installed on the fork, thereby reducing the time required for building the calibration device.

[0023] In addition, by coordinating the positioning structure with the forklift's fork positioning, the calibration device can be repeatedly installed and applied to forklift forks of various types and sizes, thereby improving the repeatability of the calibration device and reducing the problem of repeated labor caused by the operator repeatedly setting up the bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the present invention or the prior art, 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 It is a schematic diagram of the structure when the calibration device provided in some embodiments of the utility model is arranged on a forklift;

[0026] Figure 2 yes Figure 1 a left side view of the view shown;

[0027] Figure 3 yes Figure 1 Top view of the view shown.

[0028] Reference numerals:

[0029] 1. Forklift; 101. Fork; 2. Bracket; 201. Positioning structure; 202. Adjustment plate; 203. First bottom plate; 204. First mounting plate; 205. First reinforcement; 206. Second bottom plate; 207. Second mounting plate; 208. Second reinforcement. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described clearly and completely in conjunction with the drawings in the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] Combine the following Figures 1 to 3 Description: In the embodiment of the present invention, a calibration device is provided.

[0032] Specifically, the calibration device is used to calibrate the image acquisition component of the forklift 1. The forklift 1 is configured as an automated forklift 1 such as an intelligent forklift 1 or an unmanned forklift 1, for example, the forklift 1 may be an AGV forklift 1. The image acquisition component may be a camera or a camera head.

[0033] The calibration device includes a bracket 2 and a calibration object.

[0034] The bracket 2 is used to be arranged on the fork 101 of the forklift 1, that is, the fork 101 is supported below the bracket 2. A positioning structure 201 is arranged on the bracket 2, and the positioning structure 201 is used to abut against the side of the fork 101 to achieve positioning of the bracket 2 in the lateral direction of the forklift 1. For example, the positioning structure 201 includes a protruding structure protruding from the lower surface of the bracket 2, and the protruding structure abuts against the side of the fork 101 to achieve a positioning effect on the bracket 2.

[0035] The calibration object is arranged on a side of the bracket 2 facing the image acquisition component.

[0036] The calibration device provided in the embodiment of the utility model is provided with a bracket 2, and the bracket 2 can be used to install the calibration object. The positioning structure 201 on the bracket 2 abuts against the side of the fork 101 of the forklift 1, so that the bracket 2 can be positioned in the lateral direction of the forklift 1, so that the bracket 2 can be accurately and quickly installed on the fork 101, thereby reducing the time required for building the calibration device.

[0037] In addition, by positioning the positioning structure 201 and the fork 101 of the forklift 1, the calibration device can be repeatedly installed and applied to the forks 101 of forklifts 1 of various types and sizes, thereby improving the repeatability of the calibration device and reducing the problem of repeated labor caused by the operator repeatedly building the bracket 2.

[0038] In some embodiments provided by the present invention, two calibration objects are provided on the bracket 2 , and the two calibration objects correspond to the two forks 101 respectively.

[0039] In this embodiment, by setting two calibration objects corresponding to the forks 101 on the bracket 2, during the calibration process, the image acquisition component can be calibrated based on the two calibration objects respectively, and the two calibration results can be cross-checked, thereby improving the accuracy of the calibration.

[0040] In some embodiments provided by the present invention, the bracket 2 includes a fixing component and a sliding component.

[0041] The fixed component is provided with a guide structure, the guide structure extends in the transverse direction of the forklift 1, the sliding component is slidably connected to the guide structure, and both the fixed component and the sliding component are provided with a positioning structure 201. At least one of the fixed component and the sliding component is provided with the calibration object. Optionally, both the fixed component and the sliding component are provided with a calibration object.

[0042] In this embodiment, during use, the fixed assembly is placed on the fork 101, and the positioning structure 201 of the fixed assembly is abutted against one of the two forks 101. Then, the sliding assembly is slid along the guide structure of the fixed assembly, and the positioning structure 201 of the sliding assembly is abutted against the other of the two forks 101.

[0043] In this way, by setting up a fixed component and a sliding component, on the one hand, the size of the bracket 2 can be adjusted, so that the bracket 2 can adapt to forklifts 1 of different specifications, where the forklifts 1 of different specifications include forklifts 1 with different sizes of forks 101 or forklifts 1 with different spacings between forks 101. On the other hand, by setting calibration objects on both the fixed component and the sliding component, during the calibration process, the image acquisition component can be calibrated based on the two calibration objects respectively, and the two calibration results can be mutually verified, thereby improving the accuracy of the calibration. On the other hand, by setting a positioning structure 201 on both the fixed component and the sliding component, the calibration object on the fixed component has an accurate lateral position relative to the corresponding fork 101, and the calibration object on the sliding component has an accurate lateral position relative to the corresponding fork 101.

[0044] Alternatively, if Figure 2 As shown, the positioning structure 201 of the fixed component is in contact with the outer side wall of the corresponding fork 101, and the positioning structure 201 of the sliding component is in contact with the outer side wall of the corresponding fork 101. With such a configuration, during use, the distance between the fixed component and the sliding component is enlarged, and after being placed on the fork 101, the fixed component and the sliding component are slid toward each other, so that the positioning structures 201 of the fixed component and the sliding component are respectively in contact with the outer side walls of the two forks 101. The entire process only requires opening and closing, which makes the operation more convenient.

[0045] In some embodiments provided by the present invention, the fixing assembly includes an adjustment plate 202 , a first bottom plate 203 and a first mounting plate 204 .

[0046] The first bottom plate 203 is connected to the adjustment plate 202. The adjustment plate 202 is provided with the guide structure, the first bottom plate 203 is provided with the positioning structure 201, the first mounting plate 204 is connected to the first bottom plate 203, and the calibration object is provided on the first mounting plate 204. In this way, the fixing assembly mainly includes three parts, so that the structure of the fixing assembly is simple.

[0047] Optionally, the adjustment plate 202 is configured as a strip structure, which can reduce the weight of the adjustment plate 202 and reduce the cost of the adjustment plate 202.

[0048] Optionally, both the first bottom plate 203 and the adjustment plate 202, and both the adjustment plate 202 and the first mounting plate 204, are configured as assembled structures. With such a configuration, the first bottom plate 203, the adjustment plate 202, and the first mounting plate 204 can be installed separately and then assembled, thereby reducing the processing difficulty of the fixed components. Furthermore, at least one of the first bottom plate 203 and the adjustment plate 202, and the adjustment plate 202 and the first mounting plate 204, is configured as a threaded fastener connection or a welding connection.

[0049] Optionally, the first bottom plate 203 is in contact with the top surface of the fork 101. The first mounting plate 204 is perpendicular to the first bottom plate 203, and a calibration object is disposed on one side of the first bottom plate 203 close to the image acquisition component. The guide structure is parallel to the first mounting plate 204.

[0050] Optionally, the adjustment plate 202, the first base plate 203 and the first mounting plate 204 are all configured as aluminum components.

[0051] In some embodiments provided by the present utility model, the fixing assembly further includes a first reinforcement member 205. The first reinforcement member 205 is connected between the first bottom plate 203 and the first mounting plate 204. The first reinforcement member 205 connects the first bottom plate 203 and the first mounting plate 204, so that the connection strength between the first bottom plate 203 and the first mounting plate 204 can be improved.

[0052] Optionally, the first reinforcement member 205 is configured as an angle connection member, for example, angle aluminum or angle iron.

[0053] In some embodiments provided by the present invention, the sliding assembly includes a second base plate 206 and a second mounting plate 207 .

[0054] The second bottom plate 206 is slidably connected to the guide structure, and the second bottom plate 206 is provided with a positioning structure 201. The second mounting plate 207 is connected to the second bottom plate 206, and a calibration object is provided on the second mounting plate 207. With such a configuration, the sliding assembly mainly includes two parts, and the structure is simpler.

[0055] Optionally, the second bottom plate 206 is used to be arranged on the top surface of the corresponding fork 101 , and the second mounting plate 207 is arranged perpendicular to the second bottom plate 206 .

[0056] Optionally, the second base plate 206 and the second mounting plate 207 are both configured as aluminum components.

[0057] In some embodiments provided by the present invention, the sliding assembly further includes a second reinforcement member 208, and the second reinforcement member 208 is connected between the second bottom plate 206 and the second mounting plate 207. The second reinforcement member 208 connects the second bottom plate 206 and the second mounting plate 207, so that the connection strength between the second bottom plate 206 and the second mounting plate 207 can be improved.

[0058] Optionally, the second reinforcement member 208 is configured as an angle connection member, such as angle aluminum or angle iron.

[0059] In some embodiments provided by the present invention, the guide structure is configured as a guide groove, and the sliding assembly is provided with a sliding member that slides in cooperation with the guide groove. This configuration can further reduce the weight of the bracket 2.

[0060] Of course, the guide structure is not limited to being set as a guide groove. For example, the guide structure can also be set as a guide block, and the sliding assembly is provided with a sliding member that slidably cooperates with the guide block.

[0061] In some embodiments provided by the present utility model, the calibration device further comprises a thread locking member, which connects the guide structure and the sliding assembly and is used to lock or unlock the sliding assembly.

[0062] In this embodiment, during the installation process, the sliding assembly can be unlocked using a threaded locking member so that the sliding assembly can slide along the guide structure. During the calibration process, the sliding assembly can be locked using a threaded locking member so that the sliding assembly is fixed relative to the guide structure.

[0063] Optionally, taking the guide structure as a guide groove as an example, the guide groove can be set as a through groove, and at least two thread locking members are provided, and at least two thread locking members are arranged along the length direction of the guide groove. The thread locking member passes through the guide groove and is threadedly connected to the second base of the sliding assembly. When the thread locking member is loosened, the sliding assembly can slide along the guide groove through the thread locking member, and when the thread locking member is tightened, the sliding assembly is fixed relative to the guide groove.

[0064] Optionally, the sliding assembly is not limited to the sliding cooperation between the threaded locking member and the guide groove. For example, in other implementations, the sliding assembly is provided with a slider, and the slider cooperates with the guide groove. The threaded locking member is threadedly connected to the sliding assembly and is used to tighten the fixing assembly.

[0065] Optionally, taking the guide structure as a guide block as an example, the sliding assembly is provided with a guide groove or a slide block that slides with the guide block. The threaded locking member is threadedly connected to the sliding assembly and is used to tighten the fixing assembly.

[0066] In some embodiments provided by the present invention, the calibration object is set as a chessboard or a sphere.

[0067] Optionally, the checkerboard or the sphere may be bonded to the first mounting plate 204 or the second mounting plate 207 of the bracket 2 .

[0068] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0069] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0070] In the description of this specification, the description with reference to the terms "one embodiment", "first aspect embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0071] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. A calibration device, characterized in that: An image acquisition component for calibrating a forklift (1), the calibration device comprising: A bracket (2), the bracket (2) being used to be arranged on the fork (101) of the forklift (1), and a positioning structure (201) being arranged on the bracket (2), the positioning structure (201) being used to abut against the side of the fork (101) so as to position the bracket (2) in the transverse direction of the forklift (1); A calibration object is arranged on a side of the bracket (2) facing the image acquisition component.

2. The calibration device according to claim 1, characterized in that: The bracket (2) comprises a fixing component and a sliding component; Wherein, a guide structure is provided on the fixed component, and the guide structure extends in the transverse direction of the forklift (1); the sliding component is slidably connected to the guide structure; the fixed component and the sliding component are both provided with the positioning structure (201); and at least one of the fixed component and the sliding component is provided with the calibration object.

3. The calibration device according to claim 2, characterized in that: The fixing assembly comprises an adjustment plate (202), a first bottom plate (203) and a first mounting plate (204); The first base plate (203) is connected to the adjustment plate (202), the adjustment plate (202) is provided with the guide structure, the first base plate (203) is provided with the positioning structure (201), the first mounting plate (204) is connected to the first base plate (203), and the first mounting plate (204) is provided with the calibration object.

4. The calibration device according to claim 3, characterized in that: The fixing assembly further comprises a first reinforcement member (205), wherein the first reinforcement member (205) is connected between the first bottom plate (203) and the first mounting plate (204).

5. The calibration device according to claim 1, characterized in that: The support (2) is provided with two calibration objects, and the two calibration objects correspond to the two cargo forks (101) respectively.

6. The calibration device according to any one of claims 2 to 4, characterized in that: The sliding assembly comprises a second base plate (206) and a second mounting plate (207), The second base plate (206) is slidably connected to the guide structure, the second base plate (206) is provided with the positioning structure (201), the second mounting plate (207) is connected to the second base plate (206), and the calibration object is provided on the second mounting plate (207).

7. The calibration device according to claim 6, characterized in that: The sliding assembly further comprises a second reinforcement member (208), wherein the second reinforcement member (208) is connected between the second bottom plate (206) and the second mounting plate (207).

8. The calibration device according to any one of claims 2 to 4, characterized in that: The guide structure is configured as a guide block or a guide groove.

9. The calibration device according to claim 8, characterized in that: It also includes a thread locking piece, which connects the guide structure and the sliding assembly and is used to lock or unlock the sliding assembly.

10. The calibration device according to any one of claims 1 to 5, characterized in that: The calibration object is set as a chessboard or a sphere.

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