Calibration device

Abstract

The utility model relates to a calibration device which comprises the components of a base plate assembly which comprises a loading base plate; the two transverse positioning assemblies are arranged on the two sides of the carrying bottom plate in the first direction correspondingly. The two groups of transverse positioning assemblies are used for positioning an object on the carrying bottom plate in a first direction; the longitudinal positioning assembly is arranged on the loading bottom plate and is arranged between the two groups of transverse positioning assemblies; the longitudinal positioning assembly is used for positioning an object on the carrying bottom plate in a second direction; the first direction is horizontally perpendicular to the second direction; the first calibration assembly is arranged on one side of the carrying bottom plate in the second direction; the first calibration assembly comprises a first calibration optical screen which is vertically arranged and is fixed relative to the position of the object carrying bottom plate, and a first mark which is arranged on the side face, close to the object carrying bottom plate, of the first calibration optical screen and used for calibration. According to the utility model, the sensor of the mobile robot can be calibrated simply and effectively, and certain precision can be ensured.

Description

Technical Field

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

[0002] The calibration device or calibration method for relevant sensors applied to mobile robots can obtain more accurate external parameters of the sensors, so as to realize the operation and control of the robots with higher precision and help improve the overall operation effect of the robots.

[0003] At present, the following are the main calibration schemes for the external parameters of sensors such as lasers and cameras on mobile robots:

[0004] I. Directly using mechanical external parameters: This scheme is an application scheme of many relevant enterprises. However, limited by the machining and installation errors of the robots, this scheme has the following deficiencies: the obtained data has great randomness and low accuracy.

[0005] II. Based on a robot calibration tooling. For example, the Chinese utility model patent (CN219633833U) realizes the arbitrary movement of the robot through the cooperation of a universal ball with a spring and the robot chassis, so as to make it easier for the robot to coincide with the calibration origin, and then adjust the position of the camera calibration board to realize camera calibration. Because it is necessary to use the universal ball with a spring to lift the chassis of the trolley, the chassis needs to be flat, and the chassis is easily scratched during calibration. This scheme only involves the method of camera calibration and does not involve laser calibration. Therefore, this method has the following deficiencies: it cannot be applied to the situation where the chassis is uneven, and it is easy to scratch the chassis.

[0006] III. Based on a calibration algorithm: During the movement of the mobile robot, dynamic calibration is carried out by using, for example, a laser odometer and an actual wheel odometer. During this process, it is necessary for the whole robot to move in an environment with good positioning effect, and it is also affected by the inaccuracy and slipping of the robot wheel odometer, so the application is limited; moreover, this method is affected by factors such as time synchronization and sensor accuracy, and it is difficult to use as a whole.

[0007] In summary, it has become an urgent problem to propose a simple, effective and highly accurate calibration scheme to realize the external parameter calibration of sensors on mobile robots. Summary of the Utility Model

[0008] In view of the deficiencies of the prior art, the utility model discloses a calibration device.

[0009] The technical scheme adopted by the utility model is as follows:

[0010] A calibration device includes:

[0011] A bottom plate assembly, including a load-carrying bottom plate;

[0012] Two sets of lateral positioning components are respectively arranged on both sides of the load bottom plate along the first direction; the two sets of lateral positioning components are used to position an object on the load bottom plate in the first direction;

[0013] A longitudinal positioning component is arranged on the load bottom plate and between the two sets of lateral positioning components; the longitudinal positioning component is used to position an object on the load bottom plate in the second direction; the first direction and the second direction are horizontally perpendicular;

[0014] A first calibration component is arranged on one side of the load bottom plate along the second direction; the first calibration component includes a first calibration light screen which is vertically arranged and relatively fixed in position with the load bottom plate, and a first mark which is arranged on the side of the first calibration light screen close to the load bottom plate and is used for calibration.

[0015] In an embodiment of the present invention, the lateral positioning component includes a lateral positioning plate which is movably arranged on the load bottom plate along the first direction, and a first positioning scale which is fixed on the load bottom plate along the first direction; a first pointer for indicating the scale of the first positioning scale is arranged on the lateral positioning plate.

[0016] In an embodiment of the present invention, the longitudinal positioning component includes a positioning front plate which is fixed on the load bottom plate along the first direction, a positioning rear plate which is movably arranged on the load bottom plate along the second direction, and a second positioning scale which is installed on the load bottom plate along the second direction; a second pointer for indicating the scale of the second positioning scale is arranged at the end of the positioning rear plate.

[0017] In an embodiment of the present invention, a cross center line for assisting in positioning is arranged at the center of the load bottom plate; the cross center line includes a first center line which is arranged on the load bottom plate along the first direction and a second center line which is arranged on the load bottom plate along the second direction; the positioning front plate and the positioning rear plate are respectively arranged on both sides of the first center line, and the side of the positioning front plate close to the first center line coincides with the first center line.

[0018] In an embodiment of the present invention, the first calibration component further includes a first bottom plate, a first mounting bracket connecting the first bottom plate and the load bottom plate, and a first light screen bracket arranged on the first bottom plate; both ends of the first mounting bracket are respectively positioned and fixed with the first bottom plate and the load bottom plate by pins and bolts; the first calibration light screen is installed on the first bottom plate through the first light screen bracket, and the first calibration light screen is arranged perpendicular to the second direction.

[0019] In an embodiment of the present utility model, it further includes a second calibration component and a third calibration component disposed on both sides of the load bottom plate along a first direction; the second calibration component includes a second calibration light screen vertically arranged and relatively fixed in position with respect to the load bottom plate, and a second identifier disposed on the side of the second calibration light screen close to the load bottom plate for calibration; the third calibration component includes a third calibration light screen vertically arranged and relatively fixed in position with respect to the load bottom plate, and a third identifier disposed on the side of the third calibration light screen close to the load bottom plate for calibration.

[0020] In an embodiment of the present utility model, the second calibration component and the third calibration component are oppositely arranged along the first direction; and, the second calibration component and the third calibration component are adjustable along a second direction.

[0021] In an embodiment of the present utility model, vertical scales are provided on the sides of the first calibration light screen, the second calibration light screen, and the third calibration light screen close to the load bottom plate.

[0022] In an embodiment of the present utility model, the bottom plate assembly further includes a plurality of first adjustable feet; the first adjustable feet are used to horizontally adjust the load bottom plate and support the load bottom plate.

[0023] In an embodiment of the present utility model, the load bottom plate is provided with multiple groups of mounting holes; the mounting holes are used to mount the calibration component.

[0024] The above technical solution of the present utility model has the following advantages compared with the prior art:

[0025] The calibration device described in the present utility model uses wheel positioning to directly obtain the center of the robot (generally the midpoint of the straight line where the two wheel axles are located), with more accurate positioning, solving the coordinate position problem of the mobile chassis on the calibration platform, thereby obtaining a more accurate robot pose during the calibration stage and making the calibration more accurate. At the same time, the calibration device described in the present utility model can simply and effectively calibrate the sensors of the mobile robot and ensure a certain accuracy. And, it can adapt to the calibration requirements of different types of sensors by adjusting the type of the first identifier. Description of the Drawings

[0026] In order to make the content of the present utility model easier to be clearly understood, the following further details the present utility model according to the specific embodiments of the present utility model in conjunction with the drawings.

[0027] Figure 1 It is a schematic diagram of a mobile robot performing calibration.

[0028] Figure 2 It is a schematic structural diagram of the calibration device.

[0029] Figure 3 is Figure 2 An enlarged schematic view of part A in

[0030] Figure 4 is an installation schematic view of the calibration assembly.

[0031] Description of the reference numerals in the drawings of the specification:

[0032] 10. Bottom plate assembly; 11. Loading bottom plate; 12. First adjustable foot; 13. Cross center line; 14. Pin hole; 15. Threaded hole; 16. Pin; 17. Bolt;

[0033] 20. Lateral positioning assembly; 21. Optical axis; 22. Linear bearing; 23. Optical axis flange; 24. Lateral positioning plate; 25. First positioning scale; 26. First pointer;

[0034] 30. Longitudinal positioning assembly; 31. Front positioning plate; 32. Rear positioning plate; 33. Second positioning scale; 34. Second pointer;

[0035] 40. First calibration assembly; 41. First bottom plate; 42. Second adjustable foot; 43. First mounting bracket; 44. First calibration light screen; 45. First mark; 46. First scale; 47. First light screen bracket;

[0036] 50. Second calibration assembly; 51. Second bottom plate; 52. Third adjustable foot; 53. Second mounting bracket; 54. Second calibration light screen; 55. Second mark; 56. Second scale; 57. Second light screen bracket;

[0037] 60. Third calibration assembly; 61. Third bottom plate; 62. Fourth adjustable foot; 63. Third mounting bracket; 64. Third calibration light screen; 67. Third light screen bracket;

[0038] 70. Moving chassis. Detailed implementation manners

[0039] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present utility model and be able to implement it, but the embodiments cited are not intended to limit the present utility model.

[0040] In the prior art, for the external parameter calibration of positioning and detection sensors such as lidar and cameras on mobile robots, there are mainly: First, directly use the mechanical external parameters of the mobile robot; Second, realize the external parameter calibration of relevant sensors based on a calibration tooling; Third, perform calibration based on a calibration algorithm. For the first calibration scheme, it is affected by errors in the processing and assembly of the robot. Therefore, the obtained mechanical parameters have a large randomness and low accuracy. The second calibration scheme usually can only calibrate a certain type of sensor, for example, only the vision sensor can be calibrated; and usually, there are certain requirements for the structure of the mobile robot. For example, the scheme provided by the Chinese Utility Model Patent (CN219633833U) has relatively high requirements for the flatness of the chassis of the mobile robot. The third scheme is to dynamically calibrate the data collected by the sensors on the mobile robot during the movement of the mobile robot. Therefore, this method has certain requirements for both the mobile robot itself and the surrounding environment. Otherwise, the calibration accuracy may be inaccurate due to factors such as positioning effect, inaccurate odometer, and slipping.

[0041] To solve the above problems, this application proposes a calibration scheme based on a calibration device, aiming to simply and effectively calibrate the sensors of the mobile robot and ensure a certain accuracy.

[0042] As Figure 1 and Figure 2 shown, this embodiment provides a calibration device, including a bottom plate assembly 10, a lateral positioning assembly 20, a longitudinal positioning assembly 30, and a first calibration assembly 40.

[0043] Among them, for a general mobile robot, the sensors on it are mainly concentrated on the mobile chassis of the mobile robot. Therefore, in this embodiment, the calibration of the mobile robot is simplified to the calibration of the mobile chassis 70. More specifically, the calibration device provided in this embodiment is applicable to a wheeled chassis structure and does not target chassis structures such as tracked ones.

[0044] Combined with Figures 1 to 3 , the bottom plate assembly 10 includes a load bottom plate 11 arranged horizontally. Considering the flatness of the ground, a plurality of first adjustable feet 12 are provided at the bottom of the load bottom plate 11. In this embodiment, at least four first adjustable feet 12 are provided, which are respectively arranged at the four corners of the load bottom plate 11. In practical applications, in order to prevent the load bottom plate 11 from deforming during calibration, a plurality of first adjustable feet 12 can be symmetrically arranged at the center and around the center of the bottom of the load bottom plate 11. The first adjustable feet 12 can adopt anchor bolts to level the load bottom plate 11 and support the load bottom plate 11.

[0045] In this embodiment, two sets of lateral positioning components 20 are provided. These two sets of lateral positioning components 20 are respectively arranged on the left and right sides of the load-carrying bottom plate 11 along the first direction. The longitudinal positioning component 30 in this embodiment is arranged on the load-carrying bottom plate 11. And the longitudinal positioning component 30 is arranged between the two sets of lateral positioning components 20. When the moving chassis 70 moves onto the load-carrying bottom plate 11, these two lateral positioning components 20 can position the moving chassis 70 from the left and right sides of the moving chassis 70 in the first direction. The longitudinal positioning component 30 is used to position the moving chassis 70 on the load-carrying bottom plate 11 in the second direction. And the first direction and the second direction are horizontally perpendicular. Therefore, the positions of the center of the object / moving chassis 70 on the load-carrying bottom plate 11 in the first direction and the second direction can be determined by the lateral positioning component 20 and the longitudinal positioning component 30.

[0046] As Figure 2 shown, for this embodiment, both the first direction and the second direction extend along the horizontal direction. And preferably, the first direction is understood as the width direction or the left-right direction of the load-carrying bottom plate 11, which is also equivalent to the width direction when the moving chassis 70 is calibrated. The second direction is understood as the length direction or the front-back direction of the load-carrying bottom plate 11, which is also equivalent to the front-back direction when the moving chassis 70 is calibrated.

[0047] In this embodiment, the lateral positioning component 20 includes a lateral positioning plate 24 arranged on the load-carrying bottom plate 11, and a first positioning scale 25 fixed to the load-carrying bottom plate 11. The end of the lateral positioning plate 24 close to the first positioning scale 25 is provided with a first pointer 26 for indicating the scale of the first positioning scale 25. Among them, the lateral positioning plate 24 can move horizontally along the first direction. The first positioning scale 25 is horizontally arranged along the first direction. During the calibration process, the lateral positioning plates 24 of the two sets of lateral positioning components 20 clamp the moving chassis 70 from the left and right sides of the moving chassis 70. According to the reading of the first pointer 26 at the end of the lateral positioning plate 24 pointing to the first positioning scale 25, the position of the center of the moving chassis 70 in the first direction can be calculated.

[0048] To achieve the stable movement of the lateral positioning plate 24 in the first direction, preferably, the lateral positioning component 20 further includes an optical axis 21, a linear bearing 22, and an optical axis flange 23. Among them, the linear bearing 22 is connected to the load-carrying bottom plate 11 by bolts. The optical axis 21 passes through the linear bearing 22 and can slide along the linear bearing 22. The optical axis 21 is arranged along the first direction and can move along the first direction. The optical axis flange 23 is installed at one end of the optical axis 21. The lateral positioning plate 24 is installed on the optical axis flange 23. Therefore, the lateral positioning plate 24 can move the optical axis 21 in the linear bearing 22 along the first direction.

[0049] In this embodiment, the longitudinal positioning component 30 includes a positioning front plate 31 fixed to the load bottom plate 11 along the first direction, a positioning rear plate 32 movably disposed on the load bottom plate 11 along the second direction, and a second positioning scale 33 mounted on the load bottom plate 11 along the second direction. Wherein, both ends of the positioning rear plate 32 are provided with second pointers 34 for indicating the scale of the second positioning scale 33. As Figure 1 shown, after the moving chassis 70 of the mobile robot moves onto the load bottom plate 11, the driving wheel in the middle of the moving chassis 70 is abutted against the positioning front plate 31, and then the positioning rear plate 32 is moved along the second direction to make the positioning rear plate 32 close to the positioning front plate 31 until the positioning rear plate 32 abuts against the driving wheel. Thus, by reading the reading on the second positioning scale 33 indicated by the second pointer 34, the position of the moving chassis 70 in the second direction can be calculated.

[0050] In this embodiment, the first calibration component 40 is disposed on one side of the load bottom plate 11 along the second direction. The first calibration component 40 includes a first calibration light screen 44, and a first identifier 45 provided on the side surface of the first calibration light screen 44 for calibration. Wherein, the first calibration light screen 44 is vertically arranged and is relatively fixed to the position of the load bottom plate 11. To ensure the realization of this purpose, in combination with Figure 4 , the first calibration component 40 further includes a first bottom plate 41, a first mounting bracket 43 and a first light screen bracket 47. Wherein, the first bottom plate 41 is horizontally arranged. Both ends of the first mounting bracket 43 are respectively fixed to the first bottom plate 41 and the load bottom plate 11 through a pin 16 and a bolt 17. Correspondingly, a plurality of threaded holes and pin holes need to be provided on the load bottom plate 11 and the first bottom plate 41. The pin 16 is used for positioning during the fixed connection process, so as to ensure that the positions of the first bottom plate 41 and the load bottom plate 11 are relatively fixed, thereby improving the stability and accuracy of the calibration process. The first light screen bracket 47 is mounted on the first bottom plate 41. The first calibration light screen 44 is mounted on the first light screen bracket 47, and it is ensured that the plate surface of the first calibration light screen 44 is perpendicular to the second direction. The first identifier 45 is provided on the side surface of the first calibration light screen 44 close to the load bottom plate 11. Specifically, the first identifier 45 can be replaced with different types of identifiers. For example: when calibrating the lidar sensor on the moving chassis 70, the first identifier 45 can use a reflector; if calibrating the vision sensor such as a camera on the moving chassis 70, the first identifier 45 can use a QR code, etc. In addition, a plurality of second adjustable feet 42 are provided at the bottom of the first bottom plate 41, and the first bottom plate 41 is horizontally leveled through the second adjustable feet 42 to ensure the calibration accuracy.

[0051] Next, the calibration method applicable to the calibration device proposed in this embodiment will be described:

[0052] In use, taking the center point of the moving chassis 70 as the coordinate origin, an O coordinate system is established. The longitudinal direction (the second direction) of the moving chassis 70 is taken as the X-axis (usually forward is positive), the transverse direction (the first direction) is taken as the Y-axis (usually rightward is positive), and the vertical direction is taken as the Z-axis.

[0053] Move the moving chassis 70 onto the load bottom plate 11, and make the front end of the driving wheel of the moving chassis 70 contact the positioning front plate 31. Then move the positioning rear plate 32 so that the positioning rear plate 32 contacts the rear end of the driving wheel, and read the values indicated by the second pointer 34 of the positioning rear plate 32 on the second positioning scales 33 on the left and right sides, and denote them as X 11 and X 12 . Since the positioning front plate 31 and the positioning rear plate 32 have the same height, and the scale at the positioning front plate 31 is 0, the X-direction coordinate of the center of the moving chassis 70 in the O coordinate system can be obtained as (X 11 +X 12 ) / 2, and the heading angle of the robot is 0.

[0054] Move the lateral positioning components 20 on the left and right sides so that the lateral positioning plates 24 contact the outer sides of the driven wheels of the moving chassis 70. Then read the values indicated by the first pointers 26 of the lateral positioning plates 24 on the second positioning scales 33 on the left and right sides. Let the readings on both sides be Y 11 and Y 12 . From this, the longitudinal coordinate of the center of the moving chassis 70 in the O coordinate system can be obtained as (Y 11 +Y 12 ) / 2. Therefore, the coordinates of the moving chassis 70 in the O coordinate system at this time can be obtained as Pr((X 11 +X 12 ) / 2, (Y 11 +Y 12 ) / 2, Th 1 ). Among them, the height Th 1 of the moving chassis 70 can be directly measured as a known quantity. Preferably, the height Th 1 of the moving chassis 70 can be directly set to 0. Then the coordinates of the moving chassis 70 in the O coordinate system are Pr((X 11 +X 12 ) / 2, (Y 11 +Y 12 ) / 2, 0)

[0055] In the design and manufacturing stage, the coordinates of the identification such as the reflector or two-dimensional code of the first calibration component 40 in the coordinate system can be obtained as Ps(X 2 , Y 2 , Th 2 ). At this time, run the position calibration program to obtain the position Pl(X 3, Y 3 , Th 3 ). According to these conditions, the pose P(X, Y, Th) of the camera or lidar in the O coordinate system of the robot can be obtained through calculation.

[0056] According to the knowledge related to coordinate transformation, if the coordinates of a point a in a coordinate system are Pa = (X, Y, Th), then the description of the coordinate system A established by point a in the O coordinate system can be represented by the following homogeneous transformation:

[0057]

[0058] According to the above relationship, based on the coordinates of the mobile chassis 70 in the O coordinate system being Pr((X 11 + X 12 ) / 2, (Y 11 + Y 12 ) / 2, 0), the description of the coordinate system R of the mobile chassis 70 in the O coordinate system can be obtained Based on the coordinates of the first identifier 45 such as the square light plate and QR code installed on the calibration component in the O coordinate system being Ps(X 2 , Y 2 , Th 2 ), the description of the identifier coordinate system S in the O coordinate system can be obtained Based on the position Pl(X 3 , Y 3 , Th 3 ) of the calibration device in the camera or lidar coordinate system, the description of the identifier coordinate system S in the lidar or camera coordinate system L can be obtained

[0059] Then, the description of the camera or lidar coordinate system L in the robot coordinate system R is calculated according to the following formula:

[0060] where T' represents the transpose of matrix T;

[0061] Then, by transforming it into coordinate form, the pose P(X, Y, Th) of the camera or lidar L in the robot coordinate system R can be obtained.

[0062] Considering that the sensors on the mobile robot may be set in different directions. For example, laser or vision sensors are also installed on the side of the mobile chassis 70 of the mobile robot for lateral docking or obstacle avoidance, etc. Therefore, in a further embodiment, the calibration device further includes a second calibration component 50 and a third calibration component 60. The second calibration component 50 and the third calibration component 60 are respectively arranged on both sides of the load bottom plate 11 along the first direction. Among them, the second calibration component 50 includes a second calibration light screen 54 which is vertically arranged and relatively fixed in position with the load bottom plate 11. The second calibration light screen 54 is close to the side of the load bottom plate 11 and is used for the second identifier 55 for calibration. The third calibration component 60 includes a third calibration light screen 64 which is vertically arranged and relatively fixed in position with the load bottom plate 11. The third calibration light screen 64 is close to the side of the load bottom plate 11 and is used for the third identifier (not shown in the figure) for calibration. Through the second calibration component 50 and the third calibration component 60, the sensors on the left and right sides of the mobile chassis 70 can be calibrated. The specific calibration method refers to the calibration method based on the first identifier 45, which will not be elaborated here.

[0063] Similarly, referring to the structure of the first calibration component 40, the second calibration component 50 further includes a second bottom plate 51, a third adjustable foot 52, a second mounting bracket 53, and a second light screen bracket 57. The third calibration component 60 includes a third bottom plate 61, a fourth adjustable foot 62, a third mounting bracket 63, and a third light screen bracket 67. Among them, both ends of the second mounting bracket 53 realize the positioning and fastening of the second bottom plate 51 and the load bottom plate 11 through the pins 16 and bolts 17 respectively. Both ends of the third mounting bracket 63 realize the positioning and fastening of the third bottom plate 61 and the load bottom plate 11 through the pins 16 and bolts 17 respectively. The third adjustable foot 52 is used to level and support the second bottom plate 51. The fourth adjustable foot 62 is used to level and support the third bottom plate 61. In this embodiment, the first mounting bracket 43, the second mounting bracket 53, and the third mounting bracket 63 can all adopt angle steel. The second adjustable foot 42, the third adjustable foot 52, and the fourth adjustable foot 62 can refer to the first adjustable foot 12 and adopt anchor bolts. In addition, for the structures of the second calibration component 50 and the third calibration component 60, refer to the first calibration component 40, which will not be elaborated here.

[0064] Considering the efficiency and convenience of the calibration process, such as Figure 3As shown, at the center of the load-carrying bottom plate 11, a cross center line 13 for assisting in positioning is engraved. Specifically, the cross center line 13 includes a first center line provided on the load-carrying bottom plate 11 along a first direction and a second center line provided on the load-carrying bottom plate 11 along a second direction. Then, when the load-carrying bottom plate 11 is horizontal, the first center line extends horizontally along the first direction, and the second center line extends horizontally along the second direction. The positioning front plate 31 and the positioning rear plate 32 are respectively arranged on both sides of the first center line. And, the side edge of the positioning front plate 31 close to the first center line coincides with the first center line. Then, when establishing the O coordinate system, the coordinate system can be directly established with the cross center line 13, with the second center line as the X-axis and the first center line as the Y-axis.

[0065] In a further embodiment, considering that the positions of the sensors on both sides of the moving chassis 70 may vary due to the different sizes or types of the mobile robot. Therefore, the second calibration component 50 and the third calibration component 60 are arranged oppositely along the first direction. And, the second calibration component 50 and the third calibration component 60 can be adjusted along the second direction. Correspondingly, a plurality of groups of mounting holes are opened on both sides of the load-carrying bottom plate 11 along the second direction. The calibration components are installed through these mounting holes. The aforementioned mounting holes include threaded holes 15 adapted to the bolts 17 and pin holes 14 adapted to the pins 16. Thus, the position adjustment of the second calibration component 50 and the third calibration component 60 in the second direction can be realized. Of course, mounting holes for installing the first calibration component 40 are also provided at the front end of the load-carrying bottom plate 11 along the second direction.

[0066] In a further embodiment, a vertical scale is also provided on the side of the first calibration light screen 44 close to the load-carrying bottom plate 11. The scale on the first calibration light screen 44 is defined as the first scale 46. When installing the lidar, the position of the laser spot on the first calibration light screen 44 is observed through an infrared camera, so that the installation height of the lidar can be determined based on the reading of the first scale 46. Of course, the realization of this purpose depends on the moving chassis 70 being horizontally placed on the load-carrying bottom plate 11. Preferably, vertical scales are provided on the sides of the second calibration light screen 54 and the third calibration light screen 64 close to the load-carrying bottom plate 11. Specifically, the scale on the second calibration light screen 54 is defined as the second scale 56; the scale on the third calibration light screen 64 is defined as the third scale (not shown in the figure). When calibrating the height, roll angle, and pitch angle of the lidar, the lidar needs to be turned on, and an infrared camera is used to observe the position of the laser spot and read the degrees of the laser spot on the three scales of the first scale 46, the second scale 56, and the third scale. At this time, according to the magnitudes of the degrees, the adjustment screws of the lidar are adjusted so that the degrees of the laser spot on the three scales of the first scale 46, the second scale 56, and the third scale are all the expected degrees (the readings of the three scales are approximately equal), indicating that the height, roll angle, and pitch angle of the lidar have all been adjusted.

[0067] In summary, the calibration device provided in this embodiment, in cooperation with the infrared camera, can obtain the heights of the laser points on the front, left, and right faces, and use the height information to adjust the height, roll angle, and pitch angle in the laser installation position, ensuring the accuracy of the height, roll angle, and pitch angle during the installation of the lidar. In addition, in cooperation with the identification recognition algorithm, the pose of the identification in the lidar or camera coordinate system is obtained, and then a more accurate external sensor parameter is obtained, improving the positioning and recognition accuracy of the robot.

[0068] Obviously, the above embodiments are merely examples for clear illustration and are not limitations on the implementation manners. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation manners here. The obvious changes or modifications derived therefrom are still within the protection scope of the present invention.

Claims

1. A calibration device, characterized in that: include: A base plate assembly (10) comprising a loading base plate (11); Two groups of lateral positioning components (20) are respectively arranged on both sides of the object loading base plate (11) along a first direction; the two groups of lateral positioning components (20) are used to position the object on the object loading base plate (11) in the first direction; A longitudinal positioning component (30) is arranged on the object-carrying base plate (11) and between the two groups of the transverse positioning components (20); the longitudinal positioning component (30) is used to position the object on the object-carrying base plate (11) in a second direction; the first direction and the second direction are horizontal and vertical; A first calibration component (40) is arranged on one side of the loading base plate (11) along the second direction; the first calibration component (40) comprises a first calibration light screen (44) which is arranged vertically and fixed relative to the loading base plate (11), and a first mark (45) which is arranged on the side of the first calibration light screen (44) close to the loading base plate (11) and is used for calibration.

2. The calibration device according to claim 1, characterized in that: The transverse positioning assembly (20) comprises a transverse positioning plate (24) movably arranged on the loading base plate (11) along a first direction, and a first positioning scale (25) fixed on the loading base plate (11) along the first direction; the transverse positioning plate (24) is provided with a first pointer (26) for indicating the scale of the first positioning scale (25).

3. The calibration device according to claim 1, characterized in that: The longitudinal positioning assembly (30) comprises a positioning front plate (31) fixed on the loading base plate (11) along a first direction, a positioning rear plate (32) movably arranged on the loading base plate (11) along a second direction, and a second positioning scale (33) installed on the loading base plate (11) along the second direction; a second pointer (34) for indicating the scale of the second positioning scale (33) is provided at the end of the positioning rear plate (32).

4. The calibration device according to claim 3, characterized in that: A cross center line (13) for assisting positioning is provided at the center of the loading base plate (11); the cross center line (13) comprises a first center line provided on the loading base plate (11) along a first direction and a second center line provided on the loading base plate (11) along a second direction; the positioning front plate (31) and the positioning rear plate (32) are provided on both sides of the first center line, and a side edge of the positioning front plate (31) close to the first center line coincides with the first center line.

5. The calibration device according to claim 1, characterized in that: The first calibration component (40) further comprises a first base plate (41), a first mounting bracket (43) connecting the first base plate (41) and the object-carrying base plate (11), and a first light screen bracket (47) arranged on the first base plate (41); the two ends of the first mounting bracket (43) are respectively positioned and fixed to the first base plate (41) and the object-carrying base plate (11) by means of a pin (16) and a bolt (17); the first calibration light screen (44) is mounted on the first base plate (41) by means of the first light screen bracket (47), and the first calibration light screen (44) is arranged perpendicular to the second direction.

6. The calibration device according to claim 5, characterized in that: The device also comprises a second calibration component (50) and a third calibration component (60) which are arranged on both sides of the loading base plate (11) along a first direction; the second calibration component (50) comprises a second calibration light screen (54) which is arranged vertically and fixed relative to the loading base plate (11), and a second mark (55) which is arranged on the side of the second calibration light screen (54) close to the loading base plate (11) and is used for calibration; the third calibration component (60) comprises a third calibration light screen (64) which is arranged vertically and fixed relative to the loading base plate (11), and a third mark which is arranged on the side of the third calibration light screen (64) close to the loading base plate (11) and is used for calibration.

7. The calibration device according to claim 6, characterized in that: The second calibration component (50) and the third calibration component (60) are arranged relatively to each other along a first direction; and the second calibration component (50) and the third calibration component (60) can be adjusted along a second direction.

8. The calibration device according to claim 6, characterized in that: The first calibration light screen (44), the second calibration light screen (54) and the third calibration light screen (64) are all provided with vertical scales on the side surfaces close to the object loading bottom plate (11).

9. The calibration device according to any one of claims 1 to 8, characterized in that: The base plate assembly (10) further comprises a plurality of first adjustable feet (12); the first adjustable feet (12) are used to horizontally adjust the object carrying base plate (11) and support the object carrying base plate (11).

10. The calibration device according to any one of claims 1 to 8, characterized in that: The object-carrying bottom plate (11) is provided with a plurality of groups of mounting holes; the mounting holes are used for mounting the calibration components.

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