Displacement calibration tool

Abstract

The utility model belongs to the technical field of camera debugging, and particularly relates to a displacement calibration tool. In the embodiment of the invention, the calibration displacement tool is provided with the vertical moving mechanism so as to install the to-be-calibrated line laser camera; a horizontal moving mechanism is arranged to fix a mounting clamp, and a calibration plate is mounted on the mounting clamp; when the parameters of the 2D camera are calibrated, the calibration plate is driven by the horizontal moving mechanism to move along the longitudinal direction, and the laser camera to be calibrated is driven by the vertical moving mechanism to move along the vertical direction, so that a calibration pattern on the calibration plate is imaged on the 2D camera of the laser camera to be calibrated, and the calibration plate and the laser camera to be calibrated are fast in moving operation. Moreover, the position adjustment is convenient, and the accuracy of the calibration operation of the to-be-calibrated line laser camera is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of camera debugging, and in particular to a positioning and shifting tool. Background Art

[0002] A 3D line laser camera is a three-dimensional camera based on the principle of triangulation. It captures the laser line information projected by a laser generator on the surface of an object through an image sensor and reconstructs the surface contour information of the object. It mainly includes an image sensor, a lens and a line laser generator.

[0003] When a physical point is photographed, a pixel point on the image is obtained. The physical coordinates of the physical point in the spatial physical coordinate system will correspond to the pixel coordinates in the image coordinate system, and the two form a corresponding relationship. Among them, camera calibration technology uses machine vision technology to establish the relationship between the physical coordinates of an object and the coordinates of the captured image, so as to achieve rapid conversion and apply it in industry.

[0004] The accuracy of the calibration results directly affects the accuracy of the line laser camera's measurement results. Therefore, how to quickly and accurately calibrate the line laser camera is crucial. Utility Model Content

[0005] The present invention provides a calibration and positioning tool for quickly and accurately calibrating a line laser camera.

[0006] In order to achieve the above objectives, the present disclosure adopts the following technical solutions:

[0007] A first aspect of the present disclosure provides a calibration and positioning tool, comprising: a vertical moving mechanism, a horizontal moving mechanism and a mounting fixture; the horizontal moving mechanism is connected to the mounting fixture, and the horizontal moving mechanism is configured to drive the mounting fixture to move in the lateral and longitudinal directions; the vertical moving mechanism is used to install a line laser camera to be calibrated, and the vertical moving mechanism is configured to drive the line laser camera to be calibrated to move in the vertical direction; a calibration plate is installed on the mounting fixture, and when calibrating the parameters of the 2D camera of the line laser camera to be calibrated, the horizontal moving mechanism is configured to drive the calibration plate to move in the longitudinal direction, and the vertical moving mechanism is configured to drive the line laser camera to be calibrated to move in the vertical direction, so that the calibration pattern on the calibration plate is imaged on the 2D camera of the line laser camera to be calibrated.

[0008] Compared with the prior art, the positioning and shifting tool provided in the first aspect of the present disclosure has the following advantages:

[0009] In the disclosed embodiment, the calibration positioning tool is provided with a vertical moving mechanism to install the line laser camera to be calibrated; and a horizontal moving mechanism is provided to fix the mounting fixture, on which a calibration plate is mounted; when calibrating the parameters of the 2D camera, the calibration plate is driven to move longitudinally by the horizontal moving mechanism, and the line laser camera to be calibrated is driven to move vertically by the vertical moving mechanism, so that the calibration pattern on the calibration plate is imaged on the 2D camera of the line laser camera to be calibrated, so that the movement operation of the calibration plate and the line laser camera to be calibrated is fast and the position adjustment is convenient, thereby improving the accuracy and precision of the calibration operation of the line laser camera to be calibrated.

[0010] As an improvement of the above-mentioned calibration and displacement tooling disclosed in the present invention, the mounting fixture includes a first substrate and a first pressure strip, the first substrate is connected to the horizontal moving mechanism; the first pressure strip is fixedly connected to the first substrate, and the calibration plate is pressed between the first pressure strip and the first substrate.

[0011] As an improvement of the above-mentioned calibration and displacement tooling disclosed in the present invention, a receiving plate is provided on the mounting fixture, and the receiving plate is used to receive the laser line of the line laser camera, and the receiving plate is constructed to be perpendicular to the light plane of the line laser camera to be calibrated; when calibrating the light plane of the line laser camera to be calibrated, the horizontal moving mechanism is configured to drive the receiving plate to move in the horizontal and vertical directions so that the laser line is imaged on the 2D camera of the line laser camera to be calibrated.

[0012] As an improvement of the above-mentioned positioning and shifting tooling disclosed in the present invention, the mounting fixture includes a second substrate and a second pressure strip, the second substrate is connected to the horizontal moving mechanism; the second pressure strip is fixedly connected to the second substrate, and the receiving plate is pressed between the second pressure strip and the second substrate.

[0013] As an improvement of the above-mentioned marking and shifting tooling disclosed in the present invention, the receiving surface of the receiving plate for receiving the laser line is a white plane.

[0014] As an improvement of the above-mentioned calibration and displacement tooling disclosed in the present invention, the calibration plate is arranged perpendicular to the horizontal plane.

[0015] As an improvement of the above-mentioned calibration and displacement tooling disclosed in the present invention, a mounting frame is provided on the vertical moving mechanism, and the mounting frame is used to mount the laser camera of the line to be calibrated, and the mounting frame is located above the calibration plate.

[0016] As an improvement of the above-mentioned calibration and displacement tooling disclosed in the present invention, a supplementary light source is also provided on the mounting fixture, and the supplementary light source is located on the side of the calibration plate away from the line laser camera to be calibrated, and the supplementary light source is configured to be turned on when calibrating the parameters of the 2D camera.

[0017] As an improvement of the above-mentioned marking and shifting tool disclosed in the present invention, the supplementary light source is a surface light source.

[0018] As an improvement of the above-mentioned marking and positioning tool disclosed in the present invention, the marking and positioning tool also includes a support platform, and the horizontal moving mechanism and the vertical moving mechanism are both arranged on the support platform.

[0019] As an improvement of the above-mentioned marking and shifting tool disclosed in the present invention, rollers and legs are provided at the bottom of the support platform, and the legs are configured to move vertically so that the rollers support the support platform, or so that the legs support the support platform.

[0020] In addition to the technical problems solved by the present disclosure, the technical features that constitute the technical solutions, and the beneficial effects brought about by the technical features of these technical solutions described above, other technical problems that can be solved by the positioning and shifting tooling provided by the present disclosure, other technical features included in the technical solutions, and the beneficial effects brought about by these technical features will be further described in detail in the specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments of the present disclosure or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only part of the embodiments of the present disclosure. These drawings and text descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of a portion of the structure of the positioning and shifting tool provided in an embodiment of the present disclosure;

[0023] Figure 2 A schematic diagram of the structure of an installation fixture for a positioning and shifting tool provided in some embodiments of the present disclosure;

[0024] Figure 3 A schematic diagram of the structure of a first fixing assembly and a calibration plate provided in an embodiment of the present disclosure;

[0025] Figure 4 A schematic structural diagram of a second fixing assembly and a receiving plate provided in an embodiment of the present disclosure.

[0026] Description of reference numerals:

[0027] 100: vertical moving mechanism; 110: mounting frame; 120: supporting frame; 130: vertical moving assembly;

[0028] 200: horizontal moving mechanism; 210: lateral moving assembly; 220: longitudinal moving assembly; 230: fixed seat;

[0029] 300: mounting fixture; 310: first fixing assembly; 311: first substrate; 312: first pressure strip; 320: second fixing assembly; 321: second substrate; 322: second pressure strip; 330: third fixing assembly; 340: base;

[0030] 400: Line laser camera to be calibrated;

[0031] 510: calibration plate; 520: receiving plate; 530: supplementary light source;

[0032] 600: support platform; 610: roller; 620: support leg;

[0033] 700: Control device. DETAILED DESCRIPTION

[0034] The accuracy of the calibration results of a 3D line laser camera directly affects the accuracy of the line laser camera's measurement results. Therefore, how to quickly and accurately calibrate a line laser camera is crucial.

[0035] The calibration process involves relative movement between the calibration tool and the 3D line laser camera. To this end, the researchers of the present invention have designed a calibration positioning tool to drive the calibration tool and the 3D line laser camera to move along a set direction to meet the movement requirements of the 3D line laser camera during calibration.

[0036] Embodiments of the present disclosure are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0037] Combination Figure 1 and Figure 2 The embodiment of the present disclosure provides a calibration and positioning tool, which includes a vertical moving mechanism 100, a horizontal moving mechanism 200 and a mounting fixture 300, wherein the mounting fixture 300 is used to install calibration tools, such as a plate with a checkerboard pattern, a plate to receive laser lines, etc.

[0038] The horizontal moving mechanism 200 is connected to the installation fixture 300, and the connection method includes but is not limited to clamping, screw connection, etc. Exemplarily, a fixing seat 230 is provided on the horizontal moving mechanism 200, and the installation fixture 300 is fixed on the fixing seat 230, so as to realize the fixed connection between the horizontal moving mechanism 200 and the installation fixture 300.

[0039] In some embodiments, the fixing seat 230 is plate-shaped, which is conducive to improving the fixed connection between the installation fixture 300 and the fixing seat 230. Among them, the installation fixture 300 and the fixing seat 230 are fixedly connected by screws, and the connection method is stable and reliable.

[0040] The horizontal movement mechanism 200 of the embodiment of the present disclosure is configured to drive the installation fixture 300 to move in a lateral direction and a longitudinal direction, wherein the lateral direction corresponds to the X-axis direction in the drawings, and the longitudinal direction corresponds to the Y-axis direction in the drawings.

[0041] In some embodiments, the horizontal movement mechanism 200 includes a lateral movement assembly 210 and a longitudinal movement assembly 220 . The lateral movement assembly 210 is configured to drive the mounting fixture 300 to move in a lateral direction, and the longitudinal movement assembly 220 is configured to drive the mounting fixture 300 to move in a longitudinal direction.

[0042] In some embodiments, the longitudinal moving component 220 is installed on the moving end of the transverse moving component 210, and the fixed seat 230 is fixed on the moving end of the longitudinal moving component 220. The transverse moving component 210 is constructed to drive the longitudinal moving component 220 and the fixed seat 230 to move transversely, thereby driving the installation fixture 300 to move transversely; the longitudinal moving component 220 is constructed to drive the fixed seat 230 to move longitudinally, thereby driving the installation fixture 300 to move longitudinally.

[0043] In other embodiments, the transverse moving component 210 is installed on the moving end of the longitudinal moving component 220, and the fixed seat 230 is fixed on the moving end of the transverse moving component 210, and the longitudinal moving component 220 is constructed to drive the transverse moving component 210 and the fixed seat 230 to move longitudinally, thereby driving the installation fixture 300 to move longitudinally; the transverse moving component 210 is constructed to drive the fixed seat 230 to move transversely, thereby driving the installation fixture 300 to move transversely.

[0044] In some embodiments, the lateral moving assembly 210 may be a manual moving platform, and the lateral position of the mounting fixture 300 may be manually adjusted, which is low-cost.

[0045] In other embodiments, the lateral movement assembly 210 includes a driver, which is used to drive the lateral position of the mounting fixture 300, with high adjustment accuracy, which is beneficial to improving calibration accuracy.

[0046] The lateral movement assembly 210 may further include a transmission assembly, such as a lead screw nut assembly, etc.; the lateral movement assembly 210 may further include a lateral guide rail to limit the accuracy of the lateral movement of the mounting fixture 300 .

[0047] In some embodiments, the longitudinal moving assembly 220 may be a manual moving platform, which can manually adjust the longitudinal position of the mounting fixture 300 at a low cost.

[0048] In other embodiments, the longitudinal moving assembly 220 includes a driver, which is used to drive the longitudinal position of the mounting fixture 300, with high adjustment accuracy, which is beneficial to improving calibration accuracy.

[0049] The longitudinal moving assembly 220 may further include a transmission assembly, such as a screw nut assembly, a gear rack assembly, etc.; the longitudinal moving assembly 220 may further include a longitudinal guide rail to limit the accuracy of the vertical movement of the mounting fixture 300.

[0050] The above-mentioned driver may be a driving motor, or a driving cylinder, a hydraulic cylinder, etc.

[0051] In some embodiments of the present disclosure, the positioning and shifting tool further includes a support platform 600 , and the horizontal moving mechanism 200 is disposed on the support platform 600 , that is, the support platform 600 provides an installation position for the horizontal moving mechanism 200 .

[0052] The support platform 600 may be a frame structure, or a platform structure, which is not limited in the embodiments of the present disclosure.

[0053] In some embodiments, a cavity is formed in the support platform 600 , and a control device 700 is accommodated in the cavity. The control device 700 is electrically connected to the horizontal moving mechanism 200 to control the working state of the horizontal moving mechanism 200 .

[0054] In some embodiments, the control device 700 is also electrically connected to a computer to achieve data transmission between the computer.

[0055] Continue to refer to Figure 1 In some embodiments, a roller 610, such as a universal wheel, is disposed at the bottom of the support platform 600 to facilitate the movement of the support platform 600 and its upper structure.

[0056] Exemplarily, four rollers 610 are disposed at the bottom of the support platform 600 , and the four rollers 610 are arranged in a rectangular shape to improve the stability of the support platform 600 .

[0057] In some embodiments of the present disclosure, a stop structure is provided on the roller 610. When the support platform 600 moves to a set position, the stop structure is constructed to limit the rolling of the roller 610 to limit the support platform 600 to the set position to prevent it from moving during the calibration process.

[0058] In some other embodiments of the present disclosure, a support leg 620 is further provided at the bottom of the support platform 600, and the support leg 620 is configured to move vertically so that the roller 610 supports the support platform 600, and the roller 610 can drive the support platform 600 to move; or the support leg 620 is configured to move vertically so that the support leg 620 supports the support platform 600, and the roller 610 is suspended in the air, and the support platform 600 is stably installed in the set position under the action of the support leg 620.

[0059] Exemplarily, the supporting leg 620 is provided with bolts, and the vertical height of the supporting leg 620 is adjusted by the bolts; exemplary, the supporting leg 620 has a lifting structure to adjust the vertical height of the supporting leg 620.

[0060] The calibration and displacement tooling of the disclosed embodiment provides a support platform 600 to provide an installation position for the horizontal moving mechanism 200; configures rollers 610 at the bottom of the support platform 600 so that the support platform 600 and the structure thereon can be moved arbitrarily; provides liftable legs 620 to move vertically so that the rollers 610 support the support platform 600 for easy movement; or supports the support platform 600 with the legs 620 so that the support platform 600 can be stably installed at a set position for easy calibration operations.

[0061] The vertical moving mechanism 100 of the embodiment of the present disclosure is used to install the laser camera 400 of the line to be calibrated, and the vertical moving mechanism 100 is configured to drive the laser camera 400 of the line to be calibrated to move vertically, wherein the vertical direction corresponds to the Z-axis direction in the drawings.

[0062] In some embodiments, the vertical moving mechanism 100 may be a manual moving platform, which manually adjusts the vertical position of the laser camera 400 to be calibrated, and has low cost.

[0063] In other embodiments, the vertical movement mechanism 100 may include a driver, which drives the laser camera 400 to be calibrated to move vertically, with high adjustment accuracy, which is conducive to improving the calibration accuracy. The driver may be a drive motor, or a drive cylinder, a hydraulic cylinder, etc.

[0064] In the disclosed embodiment, the vertical moving mechanism 100 includes a support frame 120 and a vertical moving component 130 , wherein the support frame 120 provides an installation position for the vertical moving component 130 , and the support frame 120 is fixed on the support platform 600 , so that the vertical moving mechanism 100 is fixed on the support platform 600 .

[0065] The vertical moving assembly 130 may include a driver and a transmission assembly, wherein the driver provides driving force, and the transmission assembly may be a screw nut assembly, a gear rack assembly, etc., to transmit the driving force.

[0066] The vertical moving assembly 130 may further include a vertical guide rail to limit the accuracy of the vertical movement of the laser camera 400 to be calibrated.

[0067] The vertical moving assembly 130 further includes a fixing plate, which is disposed on the vertical guide rail and is used to install and fix the line laser camera 400 to be calibrated.

[0068] Continue to refer to Figure 1 In the disclosed embodiment, a mounting frame 110 is provided on the vertical moving mechanism 100 , and the mounting frame 110 is used to mount the line laser camera 400 to be calibrated, and the mounting frame 110 is located above the calibration plate 510 .

[0069] The mounting bracket 110 may be in a plate shape or a frame shape, which is not limited in the embodiment of the present disclosure, as long as the line laser camera 400 to be calibrated can be fixed.

[0070] In some examples, the mounting frame 110 is in the shape of a plate and is provided with a plurality of fixing holes, so that the installation position of the line laser camera 400 to be calibrated is relatively flexible to adapt to different models of line laser cameras 400 to be calibrated.

[0071] In the embodiment of the present disclosure, the mounting frame 110 is fixedly connected to the fixed plate of the vertical moving assembly 130. By adjusting the vertical mounting position of the mounting frame 110 and the fixed plate, the vertical position of the mounting frame 110 and the line laser camera 400 to be calibrated thereon is adjusted. The vertical moving stroke of the vertical moving assembly 130 can be adjusted to accommodate more line laser cameras 400 to be calibrated.

[0072] In the embodiment of the present disclosure, the line laser camera 400 to be calibrated includes a 2D camera and a line laser. The 2D camera includes a lens and an image sensor. The line laser emits a laser line to illuminate the surface of the object to be measured. The 2D camera captures the laser line on the surface of the object to be measured to form an image. After processing the image, three-dimensional data of the surface of the object to be measured is obtained.

[0073] Combination Figure 2 In some embodiments, a calibration plate 510 is installed on the mounting fixture 300. When calibrating the parameters of the 2D camera of the line laser camera 400 to be calibrated, the horizontal moving mechanism 200 is configured to drive the calibration plate 510 to move longitudinally, and the vertical moving mechanism 100 is configured to drive the line laser camera 400 to be calibrated to move vertically, so that the calibration pattern on the calibration plate 510 is imaged on the 2D camera of the line laser camera 400 to be calibrated.

[0074] The calibration pattern of the calibration plate 510 may be a black and white checkerboard, which is convenient for software to analyze and calibrate the parameters of the 2D camera. Of course, the calibration plate 510 may also be provided with other types of calibration patterns corresponding to different software analyses.

[0075] In some embodiments, the calibration plate 510 is arranged perpendicular to the horizontal plane (corresponding to the XY plane in the figure), so that the position coordinates of the calibration plate 510 are relatively simple, which facilitates the software to calibrate the parameters of the 2D camera.

[0076] In the embodiment of the disclosure, the horizontal moving mechanism 200 drives the mounting fixture 300 in the longitudinal direction (corresponding to the Y-axis direction in the figure), thereby driving the calibration plate 510 to move in the longitudinal direction; the vertical moving mechanism 100 drives the laser camera 400 to be calibrated in the vertical direction (corresponding to the Z-axis direction in the figure), so that the calibration pattern is located in the central area of ​​the 2D camera imaging. The analysis software on the computer is used to calibrate the parameters of the 2D camera.

[0077] In some embodiments, the parameters of the 2D camera may include coordinate internal parameters. When a physical point is photographed, a pixel point on an image is obtained. The physical coordinates of the physical point in the spatial physical coordinate system will correspond to the pixel coordinates in the image coordinate system, and the two form a corresponding relationship, which is the coordinate internal parameter.

[0078] In some embodiments, the parameters of the 2D camera may include distortion, where distortion is image distortion, including geometric distortion, perspective distortion, etc.

[0079] The embodiments of the present disclosure do not limit the parameters of the 2D camera, and those skilled in the art may set the parameters according to the required calibration and analysis software.

[0080] In some embodiments, the movement accuracy of the horizontal moving mechanism 200 should be compatible with the calibration requirements, and the single longitudinal movement distance required for calibration is a multiple of the movement accuracy of the horizontal moving mechanism 200. For example, if the single longitudinal movement distance required for calibration is 0.1 mm, and the movement accuracy of the horizontal moving mechanism 200 is greater than 0.1 mm, the movement accuracy of the horizontal moving mechanism 200 cannot meet the calibration requirements. Exemplarily, the movement accuracy of the horizontal moving mechanism 200 is 0.01 mm, which is compatible with the single longitudinal movement distance required for calibration, which is conducive to the calibration of the line laser camera 400 to be calibrated.

[0081] In the embodiment disclosed herein, the calibration positioning tool is provided with a vertical moving mechanism 100 to install the line laser camera 400 to be calibrated; and a horizontal moving mechanism 200 is provided to fix the mounting fixture 300, on which a calibration plate 510 is mounted; when calibrating the parameters of the 2D camera of the line laser camera 400 to be calibrated, the calibration plate 510 is driven to move longitudinally by the horizontal moving mechanism 200, and the line laser camera 400 to be calibrated is driven to move vertically by the vertical moving mechanism 100 to calibrate the parameters of the 2D camera, so that the calibration pattern on the calibration plate 510 is imaged on the 2D camera of the line laser camera 400 to be calibrated, so that the movement operation of the calibration plate 510 and the line laser camera 400 to be calibrated is fast, and the position adjustment is convenient, thereby improving the accuracy and precision of the calibration operation of the line laser camera 400 to be calibrated.

[0082] In some embodiments, in combination Figure 2 and Figure 3 The mounting fixture 300 includes a first fixing component 310 for fixing the calibration plate 510. The first fixing component 310 can be fixed in a variety of ways, such as by clamping, fixing by screws, etc., to fix the calibration plate 510.

[0083] In some embodiments, the mounting fixture 300 further includes a base 340, which is fixedly connected to the bottom end of the first fixing assembly 310. The base 340 is fixedly connected to the fixing seat 230, so that the mounting fixture 300 is fixed to the horizontal moving mechanism 200.

[0084] The base 340 can have a variety of structural forms. For example, the base 340 is a frame structure, which can not only ensure structural strength but also avoid the base 340 being bulky and inconvenient to install. For another example, the base 340 can be a platform structure, so that the first fixing component 310 can be installed stably and reliably.

[0085] In the embodiments of the present disclosure, Figure 2 and Figure 3 As shown, the first fixed component 310 includes a first substrate 311 and a first pressure strip 312. The first substrate 311 is connected to the horizontal moving mechanism 200. In the embodiment of the present disclosure, the first substrate 311 is fixedly connected to the base 340. In this way, the first substrate 311 is indirectly connected to the horizontal moving mechanism 200 through the base 340 and the fixed seat 230.

[0086] The first substrate 311 is in a plate shape and is used to support the calibration plate 510. The first pressure strip 312 is fixedly connected to the first substrate 311, for example, the first pressure strip 312 is fixedly connected to the first substrate 311 by screws, and the connection method is stable and reliable.

[0087] The calibration plate 510 is pressed between the first pressure strip 312 and the first substrate 311 , which can not only fix the calibration plate 510 on the first substrate 311 , but also avoid deformation of the calibration plate 510 caused by setting a connection structure on the calibration plate 510 and affecting the calibration result.

[0088] In the embodiment of the present disclosure, two first pressure strips 312 are provided, which are respectively located on two opposite sides of the calibration plate 510 to improve the stability of fixing the calibration plate 510 .

[0089] In some embodiments, a positioning groove is provided on the first substrate 311 to provide initial positioning for the installation of the first pressure strip 312 , thereby improving the convenience of assembling the first fixing component 310 .

[0090] In some embodiments, the first fixing assembly 310 may further include a first bracket, which is connected to the bottom end of the first substrate 311 and is fixedly connected to the base 340 to fix the calibration plate 510 at a set height, so that the calibration pattern on the calibration plate 510 can be imaged on the 2D camera.

[0091] The installation fixture 300 of the embodiment of the present disclosure supports the calibration plate 510 by setting a first substrate 311 to prevent the calibration plate 510 from being deformed by being suspended in the air; by setting a first pressure strip 312 to be fixedly connected to the first substrate 311, and pressing the calibration plate 510 between the first pressure strip 312 and the first substrate 311, the calibration plate 510 can be fixed on the first substrate 311, and deformation of the calibration plate 510 caused by setting a connection structure on the calibration plate 510 can be avoided, thereby preventing the calibration plate 510 from being deformed and affecting the calibration result.

[0092] Continue to refer to Figure 2 and Figure 3 In some embodiments of the present disclosure, a receiving plate 520 is provided on the mounting fixture 300 , wherein the receiving plate 520 is used to receive the laser line of the front calibration line laser camera 400 .

[0093] In some embodiments, the receiving surface of the receiving plate 520 for receiving the laser line is a white plane, and exemplary, the receiving plate 520 is a white ceramic plate. Such a configuration allows a large color difference between the laser line and the white receiving surface, making it easier to form a laser line image on the 2D camera, which is beneficial for calibration.

[0094] In the disclosed embodiment, the calibration plate 510 is located on the side of the receiving plate 520, and the two do not affect each other. Exemplarily, the calibration plate 510 is located on the side of the receiving plate 520, and the calibration plate 510 is perpendicular to the receiving plate 520. Such a setting can not only make the calibration plate 510 and the receiving plate 520 not affect each other, but also make the positions of the calibration plate 510 and the receiving plate 520 relatively simple, which is convenient for adjusting the horizontal and vertical positions, and also helps to reduce the difficulty of software analysis.

[0095] In some embodiments of the present disclosure, the receiving plate 520 is arranged parallel to the horizontal plane (corresponding to the XY plane in the accompanying drawings). Such an arrangement makes the position coordinates of the receiving plate 520 relatively simple and facilitates software analysis.

[0096] The receiving plate 520 is constructed to be perpendicular to the optical plane of the line laser camera 400 to be calibrated, which helps to reduce the difficulty of calibration. The line laser of the line laser camera 400 to be calibrated projects a laser line, and the fan-shaped area plane formed is the optical plane. The intersection of the optical plane and the object receiving plate 520 forms a laser line.

[0097] When calibrating the light plane of the line laser camera 400 to be calibrated, the horizontal moving mechanism 200 is configured to drive the receiving plate 520 to move in the horizontal and vertical directions so that the laser line is imaged on the 2D camera of the line laser camera 400 to be calibrated. The calibration of the light plane is the position of the light plane in the camera coordinate system.

[0098] In the disclosed embodiment, the horizontal moving mechanism 200 drives the receiving plate 520 to move horizontally and vertically through the installation fixture 300, so that the laser line is imaged at the center position of the 2D camera; and by controlling the horizontal moving mechanism 200 to drive the receiving plate 520 to move vertically, the laser line image is captured by the 2D camera, and the light plane of the calibrated line laser camera 400 is calibrated through software.

[0099] The calibration positioning tooling of the disclosed embodiment installs the receiving plate 520 by means of the mounting fixture 300 to receive the laser line of the laser camera 400 to be calibrated, and utilizes the horizontal moving mechanism 200 to drive the receiving plate 520 to move in the horizontal and vertical directions, so that the position movement of the receiving plate 520 is precise and stable, and the calibration of the light plane of the laser camera 400 to be calibrated can be realized quickly and accurately.

[0100] In some embodiments, the mounting fixture 300 includes a second fixing assembly 320, and the second fixing assembly 320 is used to fix the receiving plate 520. The second fixing assembly 320 can be fixed in a variety of ways, such as clamping, fixing by screws, etc., to fix the receiving plate 520.

[0101] The second fixing component 320 can be fixed on the base 340 , or the second fixing component 320 can be fixed on the first substrate 311 .

[0102] In the embodiment of the present disclosure, Figure 2 and Figure 4The second fixed component 320 includes a second substrate 321 and a second pressure strip 322. The second substrate 321 is connected to the horizontal moving mechanism 200. In the embodiment of the present disclosure, the second substrate 321 is fixedly connected to the base 340. In this way, the second substrate 321 is indirectly connected to the horizontal moving mechanism 200 through the base 340 and the fixed seat 230.

[0103] The second substrate 321 is in a plate shape and is used to support the receiving plate 520. The second pressure strip 322 is fixedly connected to the second substrate 321, for example, the second pressure strip 322 is fixedly connected to the second substrate 321 by screws, and the connection method is stable and reliable.

[0104] The receiving plate 520 is pressed between the second pressure strip 322 and the second substrate 321 , which can not only fix the receiving plate 520 on the second substrate 321 , but also avoid deformation of the receiving plate 520 caused by setting a connection structure on the receiving plate 520 and affecting the calibration result.

[0105] In the embodiment of the present disclosure, two second pressure strips 322 are provided, which are respectively located on two opposite sides of the receiving plate 520 to improve the stability of fixing the receiving plate 520 .

[0106] In some embodiments, a positioning groove is provided on the second substrate 321 to provide initial positioning for the installation of the second pressure strip 322 , thereby improving the convenience of assembling the second fixing assembly 320 .

[0107] In some embodiments, the second fixing assembly 320 may further include a second bracket connected to the bottom end of the second substrate 321 , and the second bracket is fixedly connected to the base 340 to fix the receiving plate 520 at a set height.

[0108] The installation fixture 300 of the disclosed embodiment supports the receiving plate 520 by setting a second substrate 321 to prevent the receiving plate 520 from being deformed by being suspended in the air; by setting a second pressure strip 322 to be fixedly connected to the second substrate 321, and pressing the receiving plate 520 between the second pressure strip 322 and the second substrate 321, the receiving plate 520 can be fixed on the second substrate 321, and deformation of the receiving plate 520 caused by setting a connection structure on the receiving plate 520 can be avoided, thereby preventing the calibration result from being affected.

[0109] Continue to refer to Figure 2 In some embodiments, a supplementary light source 530 is further provided on the mounting fixture 300. The supplementary light source 530 is located on the side of the calibration plate 510 away from the line laser camera 400 to be calibrated, and the supplementary light source 530 is configured to be turned on when calibrating the parameters of the 2D camera.

[0110] The supplementary light source 530 is used to supplement the calibration plate 510 , so that the calibration pattern can be clearly imaged on the laser camera 400 of the to-be-calibrated line.

[0111] The supplementary light source 530 may be an LED lamp, a fluorescent lamp, an incandescent lamp, or the like.

[0112] In some embodiments, the supplementary light source 530 is a surface light source, which improves the uniformity of the supplementary light for the calibration plate 510, thereby improving the imaging effect of the calibration pattern.

[0113] In some embodiments, the area of ​​the supplementary light source 530 is larger than the area of ​​the calibration plate 510 , which is beneficial to improving the supplementary light effect.

[0114] In the embodiment of the present disclosure, the installation fixture 300 further includes a third fixing component 330 , which is used to fix and support the supplementary light source 530 .

[0115] Exemplarily, the third fixing assembly 330 may include a bracket and a support plate, the bracket is respectively connected to the support plate and the base 340, and the support plate is used to support the fill light element 530.

[0116] In the description of the present disclosure, the description with reference to the terms "one 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 present disclosure. 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.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure 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 replace some or all of the technical features therein by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A positioning tool, characterized in that: include: Vertical moving mechanism, horizontal moving mechanism and mounting fixture; The horizontal movement mechanism is connected to the installation fixture, and the horizontal movement mechanism is configured to drive the installation fixture to move in the lateral and longitudinal directions; The vertical moving mechanism is used to install the laser camera of the line to be calibrated, and the vertical moving mechanism is configured to drive the laser camera of the line to be calibrated to move vertically; A calibration plate is installed on the mounting fixture. When calibrating the parameters of the 2D camera of the line laser camera to be calibrated, the horizontal moving mechanism is configured to drive the calibration plate to move longitudinally, and the vertical moving mechanism is configured to drive the line laser camera to be calibrated to move vertically, so that the calibration pattern on the calibration plate is imaged on the 2D camera of the line laser camera to be calibrated.

2. The positioning and shifting tool according to claim 1, characterized in that: The mounting fixture includes a first substrate and a first pressure strip, wherein the first substrate is connected to the horizontal moving mechanism; the first pressure strip is fixedly connected to the first substrate, and the calibration plate is pressed between the first pressure strip and the first substrate.

3. The positioning and shifting tool according to claim 1, characterized in that: The mounting fixture is provided with a receiving plate, the receiving plate is used to receive the laser line of the line laser camera, and the receiving plate is constructed to be perpendicular to the light plane of the line laser camera to be calibrated; When calibrating the light plane of the line laser camera to be calibrated, the horizontal moving mechanism is configured to drive the receiving plate to move in the lateral and longitudinal directions so that the laser line is imaged on the 2D camera of the line laser camera to be calibrated.

4. The positioning and shifting tool according to claim 3, characterized in that: The mounting fixture includes a second substrate and a second pressure strip, the second substrate is connected to the horizontal moving mechanism; the second pressure strip is fixedly connected to the second substrate, and the receiving plate is pressed between the second pressure strip and the second substrate.

5. The positioning and shifting tool according to claim 3, characterized in that: The receiving surface of the receiving plate for receiving the laser line is a white plane.

6. The positioning and shifting tool according to claim 1, characterized in that: The calibration plate is arranged perpendicular to the horizontal plane.

7. The positioning and shifting tool according to any one of claims 1 to 6, characterized in that: The vertical moving mechanism is provided with a mounting frame, and the mounting frame is used to mount the line laser camera to be calibrated, and the mounting frame is located above the calibration plate.

8. The positioning and shifting tool according to any one of claims 1 to 6, characterized in that: The mounting fixture is also provided with a supplementary light source, which is located on a side of the calibration plate away from the line laser camera to be calibrated, and the supplementary light source is configured to be turned on when calibrating the parameters of the 2D camera.

9. The positioning and shifting tool according to claim 8, characterized in that: The supplementary light source is a surface light source.

10. The marking and shifting tool according to any one of claims 1 to 6, characterized in that: The positioning and shifting tool further comprises a support platform, and the horizontal moving mechanism and the vertical moving mechanism are both arranged on the support platform; The bottom of the support platform is provided with rollers and legs, and the legs are configured to move vertically so that the rollers support the support platform, or so that the legs support the support platform.

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