Calibration device and calibration system

Abstract

The utility model relates to a calibration device and a calibration system, and relates to the technical field of AGV station calibration. The calibration device provided by the utility model comprises a connecting assembly, a first emitter, a second emitter and a third emitter are mounted on the connecting assembly, and the first emitter, the second emitter and the third emitter are all used for emitting laser rays to the reference surface; wherein a second laser ray emitted by the second emitter is located in a first plane, a first laser ray emitted by the first emitter and a third laser ray emitted by the third emitter are both located in a second plane, the first laser ray and the third laser ray are symmetrical along the first plane, and the first plane, the second plane and the first mounting surface are perpendicular to each other. The second plane is perpendicular to the reference plane. By measuring the distance between the projection points of the laser rays on the reference plane, the difficulty of judging whether the calibration plane of the AGV is parallel to the reference plane or not can be reduced, and the calibration efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV small station calibration, and particularly to a calibration device and a calibration system. Background Technique

[0002] In some manufacturing or maintenance factories of rail vehicles, RGV (Rail Guided Vehicle) trolleys are used in cooperation with AGV (Automated Guided Vehicle) trolleys to realize the production or repair of rail vehicles.

[0003] For example, the RGV trolley runs on the track in the trench to take pictures of the bottom of the vehicle, and the AGV trolley parallel to the RGV trolley takes pictures of the vehicle on the side of the vehicle. The two cooperate to achieve non-blind-zone coverage of the bottom and side parts of the vehicle for taking pictures.

[0004] In order to complete non-blind-zone vehicle photography, it is necessary to calibrate the attitude of the AGV trolley when it is at the maintenance station to ensure that the AGV trolley is parallel to the RGV trolley when it is at the maintenance station. In the related art, it is necessary to measure the included angle between the sides of the RGV trolley and the AGV trolley. However, due to the long distance, it is difficult to measure the included angle, and it is difficult to evaluate whether the AGV trolley is parallel to the RGV trolley. Content of the Utility Model

[0005] The utility model provides a calibration device for assisting in calibrating the attitude of an AGV trolley at a station, so that the AGV trolley is parallel to the RGV trolley.

[0006] The utility model provides a calibration device, including: a connection component, which is configured such that when installed on the AGV trolley, the first installation surface of the connection component is parallel to the calibration plane of the AGV trolley; a first emitter, a second emitter, and a third emitter are installed on the connection component, and the first emitter, the second emitter, and the third emitter are all used to emit laser rays to a reference plane; wherein, the second laser ray emitted by the second emitter is located in a first plane, the first laser ray emitted by the first emitter and the third laser ray emitted by the third emitter are both located in a second plane, the first laser ray and the third laser ray are symmetric along the first plane, the first plane, the second plane, and the first installation surface are perpendicular to each other in pairs, and the second plane is perpendicular to the reference plane.

[0007] In one embodiment, the connection component includes a suction attachment, and the adsorption connection surface of the suction attachment can be adsorbed and fixed to the calibration plane of the AGV trolley, and the adsorption connection surface of the suction attachment is parallel to the first installation surface.

[0008] In one embodiment, the connection component includes a plurality of suction attachments, and the adsorption connection surfaces of the respective suction attachments are located in the same plane.

[0009] In one embodiment, the first laser beam intersects the third laser beam at a first point located in a first plane, and the distance between the first point and the calibration plane is less than the distance between the first point and the reference plane.

[0010] In one embodiment, the first emitter, the second emitter and the third emitter are detachably mounted on the connection assembly.

[0011] In one embodiment, the connection assembly further includes a frame body and a first fixing block mounted on the frame body. A V-shaped first limiting groove is formed on the first fixing block. The first emitter is mounted in the first limiting groove, and the first emitter is locked in the first limiting groove by a locking screw extending into the first limiting groove.

[0012] In one embodiment, the first emitter has a cylindrical structure. The first emitter is mounted in the first limiting groove and can move along the extending direction of the first limiting groove. The first laser beam is collinear with the axis of the first emitter.

[0013] In one embodiment, the second laser beam is inclined relative to the second plane.

[0014] In one embodiment, both the first laser beam and the third laser beam are horizontal lasers, and the upward angle of the second laser beam is a first included angle.

[0015] In a second aspect, a calibration system for calibrating the AGV small vehicle station is further provided, which includes: a reference RGV vehicle that can move along a track between multiple reference stations; an AGV vehicle; and the above-mentioned calibration device. The connection assembly of the calibration device is mounted on the AGV vehicle, and the first mounting surface of the connection assembly is parallel to the calibration plane of the AGV vehicle. The calibration device is used to emit a first laser beam, a second laser beam and a third laser beam towards the reference plane of the reference RGV vehicle.

[0016] Compared with the prior art, the advantages of the present utility model are that by mounting the calibration device on the AGV vehicle, the first laser beam, the second laser beam and the third laser beam can be emitted towards the reference plane when adjusting the AGV vehicle. By adjusting the attitude of the AGV vehicle, the positions of the projection light spots of the three laser beams on the reference plane can be changed.

[0017] Since the second laser beam is located in the first plane, and the first plane is perpendicular to the first mounting surface, and the first laser beam and the third laser beam are symmetric along the first plane.

[0018] During the calibration process, the AGV vehicle can be adjusted until the distance between the projection points of the first laser ray on the reference plane is equal to the distance between the projection points of the second laser ray on the reference plane, indicating that the calibration plane of the AGV vehicle is parallel to the reference plane, thus completing the calibration work of the AGV vehicle.

[0019] Since only the distances between the projection points located on the RGV vehicle need to be measured during the calibration work, it is less difficult compared to measuring the angles of long-distance spaced planes. Brief Description of the Drawings

[0020] In the following, the present utility model will be described in more detail based on the embodiments and with reference to the drawings.

[0021] Figure 1 is a top view structural schematic diagram of the calibration device in the embodiment of the present utility model;

[0022] Figure 2 is a three-dimensional structural schematic diagram of the calibration device in the embodiment of the present utility model;

[0023] Figure 3 is a schematic diagram of the principle of the calibration device in the embodiment of the present utility model when in use for calibration.

[0024] Reference Numerals:

[0025] 1. Connection assembly;

[0026] 11. Frame; 111. Calibration mounting seat; 112. Laser mounting plate; 1121. First mounting groove; 1122. Second mounting groove; 1123. Third mounting groove; 1124. Arc-shaped groove;

[0027] 12. Suction attachment; 13. First fixing block; 131. First limiting groove; 14. Second fixing block; 141. Second limiting groove; 15. Third fixing block; 151. Third limiting groove; 16. Locking screw;

[0028] 2. First emitter; 21. First laser ray; 3. Second emitter; 31. Second laser ray;

[0029] 4. Third emitter; 41. Third laser ray;

[0030] 5. AGV vehicle; 6. RGV vehicle. Detailed Embodiment

[0031] The present utility model will be further described below with reference to the drawings.

[0032] In the related art, in order to measure whether the AGV is parallel to the RGV, it is necessary to measure the angle between the RGV and the AGV. However, the distance between the RGV and the AGV is far, and conventional angle measurement devices are difficult to use and cannot meet the calibration requirements of the AGV.

[0033] refer to Figure 1 and Figure 2 As shown, this embodiment provides a standard device, which includes: a connecting component 1, on which a first transmitter 2, a second transmitter 3 and a third transmitter 4 are installed. The connecting component 1 is used to be installed on an AGV trolley 5.

[0034] During the calibration of the AGV 5, the connection assembly 1 is installed on the AGV 5 to be calibrated so that the first mounting surface ( Figure 1 The rear facade of the middle frame 11 is parallel to the calibration plane of the AGV trolley 5, and the AGV trolley 6 is driven to the reference station.

[0035] The first emitter 2, the second emitter 3 and the third emitter 4 are used to emit laser beams toward the reference plane of the RGV trolley 6, wherein the second laser beam 31 emitted by the second emitter 3 is located in the first plane (along the Figure 1 The first plane is perpendicular to the first mounting surface. The first laser beam 21 emitted by the first emitter 2 and the third laser beam 41 emitted by the third emitter 4 are located in the second plane ( Figure 1 The first plane, the second plane and the first mounting surface are perpendicular to each other. The first laser beam 21 and the third laser beam are symmetrical with respect to the first plane.

[0036] Since the laser beam propagates in a straight line, a projection point will be left when the laser beam is irradiated on the reference plane. The distance between the projection points can be measured to determine whether the calibration plane is parallel to the reference plane. When the distance between the projection point of the first laser beam and the projection point of the second laser beam is equal to the distance between the projection point of the third laser beam 41 and the projection point of the second laser beam, it means that the projection point of the second laser beam 31 is on the perpendicular bisector of the line connecting the projection point of the first laser beam and the projection point of the third laser beam, and the first laser beam 21 and the third laser beam 41 are symmetrical along the first plane. It can be seen that the reference plane projecting the projection point of the first laser beam, the projection point of the second laser beam and the projection point of the third laser beam is perpendicular to the first plane. Since the second plane is also perpendicular to the reference plane, that is, the reference plane is perpendicular to both the first plane and the second plane.

[0037] Since the first plane, the second plane and the first mounting surface are set perpendicular to each other during setting, it can be known that when the reference plane is perpendicular to the first plane and the second plane, the reference plane is parallel to the first mounting surface, and the first mounting surface is parallel to the reference plane, that is, the calibration plane is parallel to the reference plane.

[0038] In summary, by using the calibration device of the present application, the parallel relationship between the calibration plane and the reference plane can be judged by measuring the distance between the projection points on the reference plane, which reduces the calibration difficulty of the AGV cart 5.

[0039] Reference Figure 1 and Figure 2 As shown in the figure, in the present application, the connection component 1 includes a frame body 11, and the frame body 11 includes a calibration mounting seat 111 and a laser mounting plate 112. The calibration mounting seat 111 has a first side plate and a second side plate that are perpendicular to each other. The first side plate is used to connect the suction attachment 12, and the laser mounting plate 112 is mounted on the second side plate. Among them, the first side plate is parallel to the calibration plane, and the second side plate is perpendicular to the reference plane.

[0040] A first fixing block 13, a second fixing block 14 and a third fixing block 15 are mounted on the laser mounting plate 112. The first fixing block 13 is used to mount the first transmitter 2, the second fixing block 14 is used to mount the second transmitter 3, and the third fixing block 15 is used to mount the third transmitter 4. By using the laser mounting plate 112 and the three fixing blocks arranged thereon, the laser rays emitted by the three transmitters are emitted in a preset direction. Specifically, the first laser ray 21 and the second laser ray 31 are located in the same plane (the second plane) and parallel to the second side plate. The first laser ray 21 and the second laser ray 31 are symmetric along the first plane, and the first plane is perpendicular to both the first side plate and the second side plate at the same time. The third laser ray 41 is located in the first plane.

[0041] As Figure 1 shown, in some implementation manners, the connection component 1 includes a suction attachment 12. The adsorption connection surface of the suction attachment 12 can be adsorbed and fixed on the calibration plane of the AGV cart 5, and the adsorption connection surface of the suction attachment 12 is parallel to the first mounting surface. By adsorbing and installing the calibration device on the AGV cart 5 through the suction attachment 12, the calibration device can be installed on the AGV cart 5 during calibration and removed after calibration. Among them, for the iron calibration plane, the suction attachment 12 can be a magnet, and for the plastic calibration plane, the suction attachment 12 can be a suction cup.

[0042] As Figure 1 and Figure 2As shown, the connecting component 1 includes a plurality of adsorbing members 12, and the adsorption connection surfaces of the respective adsorbing members 12 are located in the same plane. By adsorbing on the AGV cart 5 through the plurality of adsorbing members 12, the installation firmness of the calibration device on the AGV cart 5 can be improved. By controlling the adsorption connection surfaces to be in the same plane, it is avoided that some of the adsorbing members 12 protrude too much, making it difficult for other adsorbing members 12 to adsorb on the AGV cart 5. Among them, the number of the adsorbing members 12 can be determined according to the weight of the calibration device and the adsorption force of the adsorbing members 12, and the number of the adsorbing members 12 is not particularly limited.

[0043] In some embodiments, the adsorbing member 12 is installed on the first side plate of the calibration mounting seat 111.

[0044] As Figure 2 shown, in some implementation manners, the first laser ray 21 intersects the third laser ray 41 at a first point located in the first plane, and the distance from the first point to the calibration plane is less than the distance from the first point to the reference plane. The first laser ray 21 and the second laser ray 31 are not arranged in parallel, and the intersection point is closer to the calibration plane, such that the distance between the projection point of the first laser ray and the projection point of the third laser ray is greater than the distance between the first emitter 2 and the third emitter 4. As Figure 3 shown, L1 is the distance between the projection point of the first laser ray and the projection point of the second laser ray, and L2 is the distance between the projection point of the third laser ray and the projection point of the second laser ray, where L1 is much greater than the distance between the second emitter 3 and the first emitter 2, and L2 is much greater than the distance between the second emitter 3 and the third emitter 4.

[0045] By intersecting the first laser ray 21 and the third laser ray 41, the influence of measurement errors on the determination of parallelism can be weakened.

[0046] In some implementation manners, the first emitter 2, the second emitter 3 and the third emitter 4 are detachably installed on the connecting component 1. When the laser emitter is damaged or the power is insufficient, the emitter can be disassembled for repair. Compared with directly replacing the calibration device, the repair cost is reduced.

[0047] In some implementation manners, the connecting component 1 includes a frame body 11 and a first fixing block 13 installed on the frame body 11. The first fixing block 13 is provided with a V-shaped first limiting groove 131. The first emitter 2 is installed in the first limiting groove 131, and the first emitter 2 is locked in the first limiting groove 131 by using a locking screw 16 extending into the first limiting groove 131. In some implementation manners, the first limiting groove 131 is symmetric about the vertical plane, and the included angle of the V-shaped groove is 60°. In other implementation manners, the included angle of the V-shaped groove can be adjusted to adapt to emitters of different sizes.

[0048] Position the first transmitter 2 through the side wall of the first limiting groove 131, reducing the difficulty of positioning the first transmitter 2.

[0049] As Figure 1 shown, a second fixing block 14 and a third fixing block 15 are further installed on the frame body 11. A second limiting groove 141 is formed on the second fixing block 14, and a third limiting groove 151 is formed on the third fixing block 15. The first limiting groove 131, the second limiting groove 141, and the third limiting groove 151 are all V-shaped. The V-shaped groove body has a self-positioning effect, which can make the transmitter installed therein symmetric along the symmetry plane of the limiting groove.

[0050] Denote the symmetry plane of the second limiting groove 141 for installing the second transmitter 3 as the first plane, and symmetrically arrange the first limiting groove 131 and the third limiting groove 151 along the first plane (the symmetry plane of the second limiting groove 141). So that the first transmitter 2 installed in the first limiting groove 131 and the third transmitter 4 installed in the third limiting groove 151 are symmetric along the first plane. Thus, the first laser ray 21 and the third laser ray 41 are symmetric along the first plane. And the first limiting groove 131 and the third limiting groove 151 are both parallel to the second side plate of the calibration mounting seat 111, and the distance between the first limiting groove 131 and the second side plate is equal to the distance between the third limiting groove 151 and the second side plate, making the first laser ray 21 and the third laser ray 41 located in the second plane. By controlling the position of the limiting groove, the difficulty of adjusting the arrangement direction of the transmitter subsequently is reduced.

[0051] As Figure 1 shown, in some implementation manners, the frame body 11 includes a calibration mounting seat 111 and a laser mounting plate 112. The laser mounting plate 112 is provided with a first mounting groove 1121, a second mounting groove 1122, and a third mounting groove 1123. The first fixing block 13 is installed in the first mounting groove 1121, the second fixing block 14 is installed in the second mounting groove 1122, and the third fixing block 15 is installed in the third mounting groove 1123. Among them, the first mounting groove 1121 and the third mounting groove 1123 are symmetric along the central plane of the second mounting groove 1122. So that the third fixing block 15 and the first fixing block 13 are symmetrically arranged on opposite sides of the second fixing block 14. In this embodiment, by setting the first mounting groove 1121 and the third mounting groove 1123 at an angle of 80°, the first laser ray 21 and the second laser ray 31 form an angle of 80°.

[0052] As Figure 1As shown, in some implementations, the first emitter 2 has a cylindrical structure. The first emitter 2 is installed in the first limiting groove 131 and can move along the extension direction of the first limiting groove 131. The first laser ray 21 is collinear with the axis of the first emitter 2. Since the first emitter 2 has a cylindrical structure and the first laser ray 21 is collinear with the axis of the first emitter 2, even if the first emitter 2 is rotated back and forth around the axis, the emission direction of the first laser ray 21 will not change. Compared with emitters of other structures, the arrangement of adjusting the axis position of the emitter is omitted.

[0053] In some implementations, the second laser ray 31 is inclined relative to the second plane. Compared with setting the second laser ray 31 along the second plane, the distance between the projection point of the second laser ray and the first laser projection point is increased, which is equivalent to magnifying the gap between the projection points. When the measurement error of the size remains basically unchanged, the measurement amount increases, and the influence degree of the size error on the measurement result can be reduced.

[0054] As Figure 1 shown, in some implementations, both the first laser ray 21 and the third laser ray 41 are horizontal lasers, and the upward angle of the second laser ray 31 is the first included angle. That is to say, the second plane is the horizontal plane where the first laser ray 21 is set. Since the reference plane is the vertical side of the RGV, the second plane can be perpendicular to the reference plane. By raising the second laser ray 31, the second laser ray 31 can be inclined relative to the second plane. In this embodiment, the first included angle is 30°. In other embodiments, the specific value of the first included angle can be set according to the height dimension of the entity structure where the reference plane is located and the distance between the reference plane and the calibration plane.

[0055] In some implementations, as Figure 1 and Figure 2 shown, the laser mounting plate 112 is detachably installed on the calibration mounting seat 111. The laser mounting plate 112 is tightly connected to the calibration mounting seat 111 through fasteners such as bolts. An arc-shaped groove 1124 is also provided on the laser mounting plate. One of the fasteners connecting the laser mounting plate 112 and the calibration mounting seat 111 is inserted into the arc-shaped groove 1124 and connected to the calibration mounting seat 111. By loosening the fastener in the arc-shaped groove 1124, the laser mounting plate 112 can rotate around the fastener inserted into the arc-shaped groove 1124, so as to realize the installation angle between the laser mounting plate 112 and the calibration mounting seat 111, and thus adjust the installation included angle between the multiple laser emitters on the laser mounting plate 112 and the AGV cart.

[0056] In a second aspect, an embodiment of the present utility model further provides a calibration system for calibrating the 5 stations of an AGV cart, which includes a reference RGV cart 6 that can move along a track between multiple reference stations; an AGV cart 5 and the above-mentioned calibration device. The connection component 1 of the calibration device is installed on the AGV cart 5, and the first mounting surface of the connection component 1 is parallel to the calibration plane of the AGV cart 5. The calibration device is used to emit a first laser ray 21, a second laser ray 31, and a third laser ray 41 towards the reference plane of the reference RGV cart 6.

[0057] During the calibration process, the RGV cart 6 can be first driven along the track to a pre-set reference station, and the calibration device is installed on the AGV cart 5. The AGV cart 5 is driven to the corresponding area, and the three emitters on the calibration device are turned on. The calibration device emits three laser rays, and the AGV cart 5 is adjusted so that all three laser rays are projected onto the reference plane of the RGV cart 6. Then, the distance L1 between the projection point of the first laser ray and the projection point of the second laser ray and the distance L2 between the projection point of the third laser ray and the projection point of the second laser ray are measured. When L1 is equal to L2, it indicates that the AGV cart 5 is calibrated in place; otherwise, the attitude of the AGV cart 5 is continuously adjusted until L1 is equal to L2.

[0058] In some implementation manners, the RGV cart 6 is integrated with an encoder to achieve precise positioning of the RGV cart 6. In addition, a vertical calibration line is provided on the RGV cart 6, and the vertical calibration line is located at the middle position in the length direction of the RGV cart 6. When adjusting the AGV cart 5, the AGV cart 5 is first adjusted so that the second laser ray 31 shoots towards the vertical calibration line, and then L1 and L2 are measured to determine whether the AGV cart 5 is parallel to the RGV cart 6, so as to achieve the purpose of precise calibration of the AGV station.

[0059] For the case of multi-station calibration, the calibrated L1 can be recorded during the first station calibration process. When performing subsequent station calibrations, only when L1 (站1) = L1 (站2) = L2 (站1) = L2 (站2) at this time, it indicates that the calibration of station 2 is completed, so as to ensure that the connection line between station 1 and station 2 is parallel to the connection line between the two reference stations of the RGV cart 6.

[0060] Although the present utility model has been described with reference to the preferred embodiments, various improvements can be made to it and components therein can be replaced with equivalents without departing from the scope of the present utility model. In particular, as long as there is no structural conflict, the various technical features mentioned in each embodiment can be combined in any way. The present utility model is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A calibration device, characterized in that: It includes: A connecting component, wherein the connecting component is configured such that when the connecting component is installed on the AGV, a first mounting surface of the connecting component is parallel to a calibration plane of the AGV; The connecting assembly is provided with a first emitter, a second emitter and a third emitter, and the first emitter, the second emitter and the third emitter are all used to emit laser rays to the reference surface; Among them, the second laser ray emitted by the second emitter is located in the first plane, the first laser ray emitted by the first emitter and the third laser ray emitted by the third emitter are both located in the second plane, the first laser ray and the third laser ray are symmetrical along the first plane, the first plane, the second plane and the first mounting surface are perpendicular to each other, and the second plane is perpendicular to the reference plane.

2. The calibration device according to claim 1, characterized in that: The connection component includes an adsorption component, the adsorption connection surface of the adsorption component can be adsorbed and fixed on the calibration plane of the AGV vehicle, and the adsorption connection surface of the adsorption component is parallel to the first mounting surface.

3. The calibration device according to claim 2, characterized in that ； The connection assembly includes a plurality of the adsorption members, and the adsorption connection surfaces of the adsorption members are located in the same plane.

4. The calibration device according to claim 1 or 2, characterized in that: The first laser ray intersects with the third laser ray at a first point located in the first plane, and a distance between the first point and the calibration plane is smaller than a distance between the first point and the reference plane.

5. The calibration device according to claim 1 or 2, characterized in that: The first transmitter, the second transmitter and the third transmitter are detachably mounted on the connecting component.

6. The calibration device according to claim 1 or 2, characterized in that: The connecting assembly also includes a frame and a first fixed block installed on the frame, the first fixed block is provided with a first V-shaped limiting groove, the first transmitter is installed in the first limiting groove, and the first transmitter is locked in the first limiting groove by using a locking screw extending into the first limiting groove.

7. The calibration device according to claim 6, characterized in that: The first emitter is a cylindrical structure, the first emitter is installed in the first limiting groove and can move along the extension direction of the first limiting groove, and the first laser ray is colinear with the axis of the first emitter.

8. The calibration device according to claim 1, characterized in that: The second laser beam is inclined relative to the second plane.

9. The calibration device according to claim 1, characterized in that: The first laser beam and the third laser beam are both horizontal lasers, and the upward angle of the second laser beam is a first angle.

10. A calibration system for calibrating AGV vehicle stations, characterized in that: It includes: A reference RGV trolley that can move along the track between multiple reference sites; AGV car; as well as A calibration device as described in any one of claims 1 to 9, wherein the connecting component of the calibration device is installed on an AGV trolley, and the first mounting surface of the connecting component is parallel to the calibration plane of the AGV trolley, and the calibration device is used to emit a first laser beam, a second laser beam and a third laser beam to a reference plane of a reference AGV trolley.

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