Calibration system

Abstract

An embodiment of the utility model provides a calibration system, which comprises a support, a transmission mechanism and an identification device, the transmission mechanism is arranged on the support, the identification device is connected with the transmission mechanism, and the identification device can move along a first direction under the driving of the transmission mechanism. And the identification device is arranged on the guide vehicle so that the identification device can identify an identifier arranged on the guide vehicle. The technical scheme of the embodiment of the utility model aims to automatically calibrate the guide vehicle and simplify the calibration process.

Description

Technical Field

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

[0002] An automated guided vehicle (AGV) is an unmanned, computer-controlled transport vehicle that can transport materials along a prescribed route. The AGV calibration process is designed to determine its zero point position so that the AGV can accurately perform tasks during navigation and positioning. In related technologies, AGV calibration often requires manual placement of feature points or guide strips. However, this manual calibration method not only requires specialized placement of feature points or guide strips for different AGV models, resulting in a complex AGV calibration process, but also requires high precision in the manual placement. Utility Model Content

[0003] The embodiment of the present utility model provides a calibration system, which aims to automatically calibrate a guided vehicle and simplify the calibration process.

[0004] In a first aspect, an embodiment of the present invention provides a calibration system, comprising:

[0005] Bracket;

[0006] a transmission mechanism, the transmission mechanism being disposed on the bracket; and

[0007] An identification device is connected to the transmission mechanism and can move along a first direction driven by the transmission mechanism so that the identification device can identify a mark provided on the guide vehicle.

[0008] Optionally, the transmission mechanism includes a nut and a screw extending along the first direction, the screw being rotatably connected to the bracket, the nut being sleeved on the outer periphery of the screw and threadably connected to the screw, and the nut being connected to the identification device;

[0009] When the screw rod rotates, the screw rod drives the nut and the identification device to move along the first direction.

[0010] Optionally, the transmission mechanism further includes a first bevel gear, a second bevel gear and a transmission shaft, the transmission shaft is rotatably connected to the bracket, the first bevel gear is connected to the screw rod, the second bevel gear is connected to the transmission shaft, and the first bevel gear and the second bevel gear are meshed.

[0011] Optionally, the bracket includes:

[0012] roof;

[0013] a bottom plate, the bottom plate and the top plate being spaced apart along the first direction, the screw being rotatably connected to the top plate and the bottom plate, and at least partially protruding from a side of the bottom plate facing away from the top plate and connected to the first bevel gear, and the nut being located between the top plate and the bottom plate;

[0014] side panels connecting the top panel and the bottom panel; and

[0015] The mounting plate includes a first mounting portion and a second mounting portion bent and connected to the first mounting portion, the first mounting portion is connected to the side of the base plate away from the top plate, the second mounting portion extends from the first mounting portion in a direction away from the base plate, and the transmission shaft is rotatably connected to the second mounting portion.

[0016] Optionally, the transmission mechanism further comprises a handle, the handle being connected to the transmission shaft and being eccentrically arranged relative to the center of the transmission shaft; or,

[0017] The calibration system further includes a driving mechanism, which is transmission-connected to the transmission shaft.

[0018] Optionally, the calibration system further includes a damping structure, which is provided on the bracket and connected to the transmission shaft, and is used to provide rotational damping force for the transmission shaft so that the transmission shaft can maintain a relative position with the bracket.

[0019] Optionally, the damping structure includes a clamping member and an adjusting member, the clamping member is connected to the bracket, and the adjusting member is connected to the clamping member so that the clamping member clamps the transmission shaft.

[0020] Optionally, the clamping member includes a first clamping portion and a second clamping portion, the adjusting member abuts against a side of the second clamping portion facing away from the first clamping portion and is threadedly connected to the first clamping portion, and the adjusting member is used to adjust the distance between the first clamping portion and the second clamping portion to adjust the connection friction between the clamping member and the transmission shaft.

[0021] Optionally, the calibration system further comprises a sliding member and a connecting member extending along the second direction, one of the sliding member and the connecting member is provided with a sliding groove, and the other is provided with a slider, and the slider is slidably connected to the sliding groove;

[0022] The connecting member is connected to the sliding member so that the identification device can slide relative to the connecting member along the second direction;

[0023] The first direction is perpendicular to the second direction.

[0024] Optionally, the slide groove is a step groove, and the slide groove includes a first groove body and a second groove body that are connected. Along the second direction perpendicular to the second direction, the groove width of the second groove body is greater than the groove width of the first groove body to limit the sliding block from detaching from the slide groove.

[0025] The calibration system provided by the embodiment of the present invention connects the identification device to the transmission mechanism, so that the identification device can move to different preset positions along the first direction under the drive of the transmission mechanism, thereby identifying the identification of guide vehicles of different models. After the transmission mechanism drives the identification device to move to the preset position according to the model of the guide vehicle, the identification device can identify the identification of the guide vehicle, and then the identification device can transmit the identification result to the control device. The control device determines the calibration parameters of the guide vehicle according to the identification result of the identification device to complete the calibration. It can be seen that in the calibration system of the present invention, the transmission mechanism drives the identification device to move to the preset position, so that the identification device can identify the identification of the guide vehicle and complete the calibration without manual arrangement, which is conducive to improving the accuracy of the calibration. Moreover, the transmission mechanism drives the identification device to move to different preset positions according to the model of the guide vehicle, so that the identification device can identify the guide vehicles of different models to complete the calibration without the need to rearrange the feature points according to different models, which is conducive to simplifying the calibration process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0027] Figure 1 A schematic diagram of the structure of a calibration system provided in an embodiment of the present utility model;

[0028] Figure 2 A front view of a calibration system provided by an embodiment of the present utility model;

[0029] Figure 3 for Figure 1 A magnified view of point A in the figure;

[0030] Figure 4 for Figure 1 Enlarged view of point B in FIG.

[0031] Figure 5 This is a structural schematic diagram of the damping structure provided in an embodiment of the utility model.

[0032] Description of main reference numerals:

[0033] 11. Bracket; 111. Bracket body; 112. Mounting seat; 1121. Top plate; 1122. Bottom plate; 1123. Side plate; 1124. Mounting plate; 12. Transmission mechanism; 121. Nut; 122. Screw; 123. First bevel gear; 124. Second bevel gear; 125. Transmission shaft; 126. Slider; 127. Handle; 13. Movable base; 14. Damping structure; 141. Clamping member; 1411. First clamping portion; 1412. Second clamping portion; 142. Adjusting member; 15. Slider; 16. Connecting member; 161. Slide groove;

[0034] 20. Identification device. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] See also Figures 1 to 5 The present invention provides a calibration system including a bracket 11, a transmission mechanism 12, and an identification device 20. The transmission mechanism 12 is provided on the bracket 11, and the identification device 20 is connected to the transmission mechanism 12. The identification device 20 can move in a first direction driven by the transmission mechanism 12 so that the identification device 20 can identify a marker provided on the guide vehicle.

[0037] By connecting the identification device 20 to the transmission mechanism 12, the identification device 20 can be moved in a first direction to different preset positions under the drive of the transmission mechanism 12, thereby identifying the identification of different guided vehicle models. After the transmission mechanism 12 drives the identification device 20 to the preset position based on the model of the guided vehicle, the identification device 20 can identify the guided vehicle identification. The identification device 20 then transmits the recognition result to the control device, which determines the calibration parameters of the guided vehicle based on the recognition result of the identification device 20, completing the calibration.

[0038] It can be seen that in the calibration system of the present invention, the transmission mechanism 12 drives the identification device 20 to move to the preset position, so that the identification device 20 can identify the identification of the guide vehicle and complete the calibration without manual arrangement of dots, which is beneficial to improving the accuracy of calibration. The transmission mechanism 12 can drive the identification device 20 to move to different preset positions according to the model of the guide vehicle, and can realize that the identification device 20 can identify guide vehicles of different models to complete the calibration without the need to rearrange the dots according to different models, which is beneficial to simplify the calibration process.

[0039] For example, the first direction may be the direction of gravity, such as Figure 1 As shown in the Z direction in the figure. When the calibration system is used to calibrate the guide vehicle, the identification device 20 can be connected to the transmission mechanism 12 of the calibration system. After determining the preset height corresponding to the identification device 20 according to the model of the guide vehicle, the transmission mechanism 12 is controlled to drive the identification device 20 to move to the preset height and keep the identification device 20 stationary at the preset height. The guide vehicle can then be controlled to move within the area to be identified. The identification device 20 identifies the mark on the guide vehicle, determines the position of the guide vehicle, and transmits the identification result to the control device. The control device can then obtain the positioning of the internal system of the guide vehicle and perform calibration based on the recognition result of the identification device 20 and the positioning result of the guide vehicle. When it is necessary to calibrate a guide vehicle of another model, it is only necessary to determine the preset height of the identification device 20 again according to the model of the guide vehicle, and then control the transmission mechanism 12 to drive the identification device 20 to move to the preset height to identify the mark of the guide vehicle located in the area to be identified.

[0040] For example, the identification device 20 may be a code reader or a radio frequency identification device 20, and the guide vehicle identifier may be a QR code, a barcode, or a radio frequency tag. When the identification device 20 is a code reader, a QR code or barcode may be placed on the guide vehicle, and then the code reader is used to identify the QR code or barcode on the guide vehicle to determine the guide vehicle's location information, thereby calibrating the guide vehicle. When the identification device 20 is an radio frequency identification device 20, a radio frequency tag may be placed on the guide vehicle, and then the radio frequency identification device 20 is used to identify the radio frequency tag on the guide vehicle to determine the guide vehicle's location information, thereby calibrating the guide vehicle.

[0041] In some embodiments, the bracket 11 includes a bracket body 111 and a mounting seat 112 . The mounting seat 112 is disposed on the bracket body 111 , and the transmission mechanism 12 is disposed on the mounting seat 112 to facilitate installation of the transmission mechanism 12 .

[0042] In some embodiments, the calibration system further includes a movable base 13, and the bracket 11 is disposed on the movable base 13, thereby facilitating the overall movement of the calibration system. Figure 1 As shown, the movable base 13 includes a base body and a universal wheel installed at the bottom of the base body, and the bracket 11 is arranged on the base body and moves through the universal wheel.

[0043] In some embodiments, the transmission mechanism 12 includes a nut 121 and a screw rod 122 extending along a first direction. The screw rod 122 is rotatably connected to the bracket 11. The nut 121 is sleeved around the outer periphery of the screw rod 122 and is threadedly connected to the screw rod 122. The nut 121 is configured to be connected to the identification device 20. When the screw rod 122 rotates, the screw rod 122 can stably drive the nut 121 and the identification device 20 to move along the first direction, so that the identification device 20 can move along the first direction to a predetermined position.

[0044] In some embodiments, the transmission mechanism 12 further includes a first bevel gear 123, a second bevel gear 124, and a transmission shaft 125. The transmission shaft 125 is rotatably connected to the bracket 11. The first bevel gear 123 is connected to the screw rod 122, and the second bevel gear 124 is connected to the transmission shaft 125. The first bevel gear 123 and the second bevel gear 124 are meshed. It can be understood that the transmission shaft 125 rotates under the action of the driving force, and the force is transmitted to the screw rod 122 through the second bevel gear 124 and the first bevel gear 123, thereby driving the screw rod 122 to rotate. The force transmission achieved through the first bevel gear 123 and the second bevel gear 124 is conducive to changing the direction of the force transmission, so that the position of the transmission shaft 125 can be set according to actual conditions to facilitate the input of the driving force.

[0045] Furthermore, the bracket 11 includes a top plate 1121 and a bottom plate 1122, a side plate 1123 and a mounting plate 1124 spaced apart along the first direction. The screw rod 122 is rotatably connected to the top plate 1121 and the bottom plate 1122, and the screw rod 122 at least partially protrudes from the side of the bottom plate away from the top plate and is connected to the first bevel gear 123, and the nut 121 is located between the top plate 1121 and the bottom plate 1122. The side plate 1123 connects the top plate 1121 and the bottom plate 1122. The mounting plate 1124 includes a first mounting portion and a second mounting portion bent and connected to the first mounting portion, the first mounting portion is connected to the side of the bottom plate away from the top plate, the second mounting portion extends from the first mounting portion in a direction away from the bottom plate, and the transmission shaft 125 is rotatably connected to the second mounting portion. It can be understood that the connection between the first mounting portion and the base plate 1122 is beneficial to increasing the relative area between the mounting plate 1124 and the base plate 1122, facilitating the connection between the mounting plate 1124 and the base plate 1122, ensuring the connection stability between the mounting plate 1124 and the base plate 1122, and being rotatably connected to the second mounting portion through the transmission shaft to realize force transmission.

[0046] Specifically, the bracket 11 may include two side plates 1123 spaced apart from each other, and the transmission mechanism 12 may further include a transmission member 126. The transmission member 126 is connected to the nut 121, and the two sides of the transmission member 126 are respectively slidably connected to the two side plates 1123. The identification device 20 is connected to the transmission member 126. When the screw rod 122 is driven to rotate, the nut 121 can drive the transmission member 126 and the identification device 20 to move stably along the first direction.

[0047] In an optional embodiment, the calibration system further includes a driving mechanism, which is connected to the transmission shaft 125. It can be understood that the driving mechanism can drive the transmission shaft 125 to rotate under the control of the control device, and drive the screw 122 to rotate through the first bevel gear 123 and the second bevel gear 124.

[0048] In another optional embodiment, the transmission mechanism 12 further includes a handle 127, which is connected to the transmission shaft 125 and is eccentrically disposed relative to the center of the transmission shaft 125. In this way, a user can grip the handle 127 to manually control the rotation of the transmission shaft 125, thereby driving the first bevel gear 123, the second bevel gear 124, and the screw 122 to rotate, causing the nut 121 and the identification device 20 to move in the first direction.

[0049] For example, Figure 2 As shown, the transmission mechanism 12 may include a handwheel provided with a handle 127 .

[0050] Furthermore, the calibration system also includes a damping structure 14, which is provided on the bracket 11 and connected to the transmission shaft 125. The damping structure 14 is used to provide rotational damping force for the transmission shaft 125 so that the transmission shaft 125 can maintain a relative position with the bracket 11, thereby enabling the identification device 20 to remain in any preset position after moving relative to the screw rod 122 in the first direction.

[0051] In other embodiments, multiple first clamping structures can be set on the bracket 11, and at least one second clamping structure can be set on the transmission shaft 125. The rotation of the transmission shaft 125 is limited by the clamping cooperation between the first clamping structure and the second clamping structure, so that the identification device 20 remains in a preset position.

[0052] Furthermore, the damping structure 14 includes a clamping member 141 and an adjusting member 142, the clamping member is connected to the bracket 11, and the adjusting member 142 is connected to the clamping member 141 so that the clamping member 141 clamps the transmission shaft 125, and the transmission shaft 125 can maintain its relative position with the bracket 11 under the friction force provided by the clamping member 141.

[0053] Specifically, the clamping member includes a first clamping portion 1411 and a second clamping portion 1412. The adjusting member abuts against the side of the second clamping portion 1412 facing away from the first clamping portion 1411 and is threadedly connected to the first clamping portion 1411. The adjusting member is used to adjust the distance between the first clamping portion 1411 and the second clamping portion 1412 to adjust the connection friction between the clamping member and the transmission shaft. When the identification device 20 needs to be maintained at a preset position in the first direction, the adjusting member 142 can be adjusted to reduce the distance between the first clamping portion 1411 and the second clamping portion 1412, thereby increasing the friction between the first clamping portion 1411, the second clamping portion 1412 and the transmission shaft 125, making it impossible for the transmission shaft 125 to rotate and the identification device 20 to move in the first direction. When the identification device 20 needs to switch to another preset position in the first direction, the adjustment member 142 is adjusted to increase the distance between the first clamping portion 1411 and the second clamping portion 1412, and reduce the friction between the first clamping portion 1411, the second clamping portion 1412 and the transmission shaft 125, so as to facilitate manual control of the handle 127 to drive the transmission shaft 125 to rotate, thereby realizing the height switching of the identification device 20.

[0054] Exemplarily, the first clamping portion 1411 has a first arc surface matching the transmission shaft, and the second clamping portion 1412 has a second arc surface matching the transmission shaft 125 . The first arc surface and the second arc surface clamp the transmission shaft 125 together.

[0055] In some embodiments, the calibration system further includes a sliding member 15 and a connecting member 16 extending along a second direction, wherein one of the sliding member 15 and the connecting member 16 is provided with a slide groove 161, and the other is provided with a slider that is slidably connected to the slide groove 161. The connecting member 16 is connected to the sliding member 15 so that the identification device 20 can slide relative to the connecting member 16 along the second direction. The first direction is perpendicular to the second direction. By being connected to the sliding member 15, the identification device 20 can slide relative to the connecting member 16 along the second direction, thereby further adjusting the position of the identification device 20.

[0056] Exemplarily, the first direction may be the direction of gravity, the second direction may be the horizontal direction, and the first direction and the second direction may be perpendicular.

[0057] Furthermore, the calibration system also includes reinforcing ribs, which respectively connect the connecting member 16 and the transmission member 126 to enhance the connection stability between the transmission member 126 and the connecting member 16 .

[0058] Furthermore, the chute 161 is a stepped chute, comprising a first chute body and a second chute body that are connected. The width of the second chute body is greater than the width of the first chute body in a direction perpendicular to the second direction, thereby preventing the slider from disengaging from the chute 161. It is understood that the width of the second chute body is greater than the width of the first chute body, so that the slider can abut against the stepped surface between the first and second chute bodies to prevent the slider from disengaging from the chute 161, thereby ensuring that the identification device 20 can slide stably relative to the connector 16.

[0059] For example, the sliding member 15 may be provided with a bolt, which forms a T-shaped sliding block and is slidably engaged in the sliding groove 161 .

[0060] In other embodiments, the calibration system may include a telescopic rod, one end of which is connected to the transmission mechanism 12 along its telescopic direction, and the other end is configured to be connected to the identification device 20 so that the identification device 20 can move in a second direction relative to the transmission mechanism 12.

[0061] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A calibration system, characterized in that: The calibration system is used for guiding the vehicle, and the calibration system comprises: Bracket; a transmission mechanism, the transmission mechanism being disposed on the bracket; and An identification device is connected to the transmission mechanism, and the identification device can move along a first direction driven by the transmission mechanism so that the identification device can identify a mark arranged on the guide vehicle.

2. The calibration system according to claim 1, characterized in that: The transmission mechanism includes a nut and a screw rod extending along the first direction, the screw rod is rotatably connected to the bracket, the nut is sleeved on the outer circumference of the screw rod and is threadedly connected to the screw rod, and the nut is connected to the identification device; When the screw rod rotates, the screw rod drives the nut and the identification device to move along the first direction.

3. The calibration system according to claim 2, characterized in that: The transmission mechanism also includes a first bevel gear, a second bevel gear and a transmission shaft, the transmission shaft is rotatably connected to the bracket, the first bevel gear is connected to the screw rod, the second bevel gear is connected to the transmission shaft, and the first bevel gear and the second bevel gear are meshed.

4. The calibration system according to claim 3, characterized in that: The support comprises: roof; A bottom plate, wherein the bottom plate and the top plate are spaced apart along the first direction, the screw rod is rotatably connected to the top plate and the bottom plate, and the screw rod at least partially protrudes from a side of the bottom plate away from the top plate and is connected to the first bevel gear, and the nut is located between the top plate and the bottom plate; a side panel connecting the top panel and the bottom panel; and The mounting plate includes a first mounting portion and a second mounting portion bent and connected to the first mounting portion, the first mounting portion is connected to a side of the bottom plate away from the top plate, the second mounting portion extends from the first mounting portion in a direction away from the bottom plate, and the transmission shaft is rotatably connected to the second mounting portion.

5. The calibration system according to claim 3, characterized in that: The transmission mechanism further includes a handle, which is connected to the transmission shaft and is eccentrically arranged relative to the center of the transmission shaft; or, The calibration system also includes a driving mechanism, which is transmission-connected to the transmission shaft.

6. The calibration system according to claim 5, characterized in that: The calibration system also includes a damping structure, which is arranged on the bracket and connected to the transmission shaft. The damping structure is used to provide a rotational damping force for the transmission shaft so that the transmission shaft can maintain a relative position with the bracket.

7. The calibration system according to claim 6, characterized in that: The damping structure comprises a clamping member and an adjusting member, wherein the clamping member is connected to the bracket, and the adjusting member is connected to the clamping member so that the clamping member clamps the transmission shaft.

8. The calibration system according to claim 7, characterized in that: The clamping member includes a first clamping portion and a second clamping portion, the adjusting member abuts against a side of the second clamping portion away from the first clamping portion and is threadedly connected to the first clamping portion, and the adjusting member is used to adjust the distance between the first clamping portion and the second clamping portion to adjust the connection friction between the clamping member and the transmission shaft.

9. The calibration system according to any one of claims 1 to 8, characterized in that: The calibration system further comprises a sliding member and a connecting member extending along the second direction, one of the sliding member and the connecting member is provided with a sliding groove, and the other is provided with a sliding block, and the sliding block is slidably connected to the sliding groove; The connecting member is connected to the sliding member so that the identification device can slide relative to the connecting member along the second direction; The first direction is perpendicular to the second direction.

10. The calibration system according to claim 9, characterized in that: The slide groove is a step groove, and the slide groove includes a first groove body and a second groove body that are connected. In a direction perpendicular to the second direction, the groove width of the second groove body is greater than the groove width of the first groove body, so as to limit the sliding block from detaching from the slide groove.

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