High-precision calibration tool

Abstract

The utility model discloses a high-precision calibration tool. The high-precision calibration tool comprises a transfer robot; a code reading camera is arranged on a chassis of the transfer robot; laser sensors are arranged at the front and rear ends of the transfer robot; the high-precision calibration tool further comprises an inclined plate, a flat plate and a datum reference plate. One end of the inclined plate is connected to the flat plate; the inclined plate is provided with a two-dimensional code used for being recognized by the code reading camera so as to control running of the carrying robot. The horizontal platform of the flat plate is provided with a grid plate which is composed of a plurality of grids and used for being recognized by the code reading camera so as to calibrate the position of the transfer robot. The benchmark reference plate is positioned at the front end of one end, far away from the inclined plate, of the flat plate, and is provided with a first reflector and a second reflector which are irradiated by the laser sensor and reflect light; the reflecting surfaces of the first reflecting plate and the second reflecting plate are vertical to the horizontal plane; the reflection coefficient of the first reflector is larger than that of the second reflector. And the high-precision calibration tool can realize accurate positioning of the transfer robot.

Description

Technical Field

[0001] The utility model relates to a high-precision calibration tooling. Background Art

[0002] The positioning and navigation technology of a handling robot is a key technology to ensure its normal and stable operation. The existing differential drive handling robot realizes real-time positioning by relying on dead reckoning and the mileage data of the code disk, and judges obstacles by relying on the data detected by the laser in real time, so as to ensure the high-precision operation of the handling robot. Therefore, the pose estimation accuracy of the handling robot directly affects the operation accuracy of the robot, and the accuracy of laser obstacle detection directly affects the accuracy and safety of obstacle avoidance.

[0003] During the installation process of the handling robot, the code reading sensor may have installation deviations, and the laser will also have various angular deviations, which affect the pose estimation accuracy of the robot. Therefore, it is necessary to calibrate the positioning device of the robot. The existing installation and pose estimation accuracy of the positioning device of the robot are judged by the assembly workers according to their assembly experience, so that the pose of the robot cannot be accurately calibrated, and the operation accuracy of the handling robot cannot reach the standard accuracy. Summary of the Utility Model

[0004] The utility model provides a high-precision calibration tooling to solve the above-mentioned technical problems, and specifically adopts the following technical solutions:

[0005] A high-precision calibration tooling includes: a handling robot; a code reading camera is provided on the chassis of the handling robot; laser sensors are provided at the front and rear ends of the handling robot; the high-precision calibration tooling further includes: a ramp plate having a ramp for the handling robot to travel, a flat plate provided with a horizontal platform for the handling robot to park, and a reference board; one end of the ramp plate is connected to the flat plate; a two-dimensional code for the code reading camera to identify to control the travel of the handling robot is provided on the ramp plate; a grid plate composed of a plurality of grids is provided on the horizontal platform of the flat plate for the code reading camera to identify so as to calibrate the position of the handling robot; the reference board is located at the front end of the end of the flat plate away from the ramp plate, and is provided with a first reflector and a second reflector for the laser sensor to irradiate and reflect light; the reflecting surfaces of the first reflector and the second reflector are both perpendicular to the horizontal plane; the reflection coefficient of the first reflector is greater than that of the second reflector.

[0006] Further, a plurality of two-dimensional codes are provided on the ramp plate; the plurality of two-dimensional codes are evenly distributed along the center line of the ramp plate.

[0007] Further, the grid plate is located on the center line of the flat plate and is symmetrically arranged with respect to the center line of the flat plate.

[0008] Further, the plane where the vertical bisector of the reference board lies, the plane where the center line of the flat board lies, and the center line plane of the inclined board coincide with each other.

[0009] Further, the first reflector and the second reflector are symmetrically arranged with respect to the vertical bisector of the reference board.

[0010] Further, the range of the included angle between the extending direction of the first reflector and the extending direction of the second reflector is 80 degrees to 100 degrees.

[0011] Further, an installation platform is provided below the reference board; a plurality of sucker support feet are provided below the installation platform.

[0012] Further, a telescopic cylinder for adjusting the height of the installation platform is provided between the sucker support feet and the installation platform; the telescopic cylinder is installed below the installation platform; the sucker support feet are fixed to the end of the cylinder rod of the telescopic cylinder.

[0013] Further, at the position where the vertical bisector of the reference board passes through the upper end of the reference board, a height detection sensor for detecting the height of the reference board relative to the handling robot to be calibrated is provided; at the position where the vertical bisector of the reference board passes through the lower end of the reference board, a distance detection sensor for detecting the distance between the reference board and the flat board is provided; the height detection sensor is communicatively connected to the telescopic cylinder; the distance detection sensor is communicatively connected to a first alarm; the first alarm is installed on the installation platform.

[0014] Further, a laser emitter is provided at the end of the flat board facing the reference board; laser sensors for sensing the laser emitted by the laser emitter to calibrate the relative position between the reference board and the flat board are distributed along the vertical bisector of the reference board; the laser emitter is communicatively connected to a second alarm; the second alarm is installed at the rear side of the reference board.

[0015] The beneficial effect of the present utility model is that the provided high-precision calibration tooling can perform fine calibration on the code reading camera and the laser sensor, detect the installation and detection angles of the above-mentioned code reading camera and laser sensor, so as to accurately position the pose of the handling robot and ensure the accuracy of the pose estimation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0017] Figure 1 is a schematic diagram of the high-precision calibration tooling of the present utility model;

[0018] Figure 2 is Figure 1 a schematic diagram of the handling robot of the high-precision calibration tooling in

[0019] Figure 3 is Figure 1 a schematic diagram of the removal handling robot of the high-precision calibration tooling in

[0020] Figure 4 is Figure 1 a schematic diagram of the high-precision calibration tooling in

[0021] Figure 5 is Figure 4 a schematic diagram of the handling robot without angular deviation during the calibration of the high-precision calibration tooling in

[0022] Figure 6 is Figure 4 a schematic diagram of the handling robot without angular deviation during the calibration of the high-precision calibration tooling in

[0023] High-precision calibration tooling 10, handling robot 11, code-reading camera 111, laser sensor 112, inclined plate 12, two-dimensional code 13, flat plate 14, grid plate 15, reference reference plate 16, first reflector 161, second reflector 162, installation platform 17, suction cup support feet 18, telescopic cylinder 19, height detection sensor 20, distance detection sensor 21, first alarm (not shown), laser emitter (not shown), laser inductor 22, second alarm (not shown). Detailed implementation manners

[0024] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0025] As Figures 1 to 6As shown in the figure, a high-precision calibration tooling 10 of the present application includes: a handling robot 11. A code reading camera 111 is provided on the chassis of the handling robot 11 to identify a two-dimensional code 13. Laser sensors 112 are provided at the front and rear ends of the handling robot 11. By irradiating with the laser sensors 112, the handling robot 11 is calibrated. The high-precision calibration tooling 10 further includes: an inclined plate 12, a flat plate 14 and a reference board 16. The inclined plate 12 has a slope for the handling robot 11 to travel. The flat plate 14 is provided with a horizontal platform for the handling robot 11 to park. One end of the inclined plate 12 is connected to the flat plate 14, and the handling robot 11 travels from the inclined plate 12 to the flat plate 14. A two-dimensional code 13 is provided on the inclined plate 12 for the code reading camera 111 to identify to control the travel of the handling robot 11. A grid plate 15 is provided on the horizontal platform of the flat plate 14. The grid plate 15 is composed of a plurality of grids for the code reading camera 111 to identify to calibrate the position of the handling robot 11. When performing the calibration operation, the reference board 16 is located at the front end of the flat plate 14 far from the inclined plate 12. A first reflector 161 and a second reflector 162 for the laser sensors 112 to irradiate and reflect light are provided on the reference board 16. The reflecting surfaces of the first reflector 161 and the second reflector 162 are both perpendicular to the horizontal plane so as to be able to effectively reflect the irradiated laser. Among them, the reflection coefficient of the first reflector 161 is greater than that of the second reflector 162.

[0026] Specifically, for the laser sensors 112, when they irradiate the first reflector 161 and the second reflector 162, the light intensities reflected by the two are different, and the laser sensors 112 will generate differential data. According to the method of processing this differential data, the position and angle of the laser sensors 112 can be calibrated, and thus the handling robot 11 can be calibrated, as follows:

[0027] As Figure 5 are the data of each point fed back by the laser sensors 112 when there are no position and angle deviations of the laser of the laser sensors 112, and this is used as a reference. As Figure 6 shown, are the data of each point fed back by the laser sensors 112 when there are position and angle deviations of the laser of the laser sensors 112. By the difference in the position data of each point of the above two sets of data, the offset angle α of the laser can be calculated to achieve calibration.

[0028] The method for processing the data of the laser sensors in the above solution is a general algorithm in the field of laser detection technology. The staff combines Figure 5 and Figure 6 can clearly know the technical principle of this laser detection, which is an existing technology, and it can be used after installation.

[0029] As a specific implementation manner, a plurality of two-dimensional codes 13 are provided on the inclined plate 12, and the plurality of two-dimensional codes 13 are evenly distributed along the center line of the inclined plate 12. The grid plate 15 is located on the center line of the flat plate 14 and is symmetrically arranged with respect to the center line of the flat plate 14. The plane where the vertical bisector of the reference plate 16 is located, the plane where the center line of the flat plate 14 is located, and the center line plane of the inclined plate 12 coincide with each other. The first reflector 161 and the second reflector 162 are symmetrically arranged with respect to the vertical bisector of the reference plate 16. In this way, the accuracy and easy calibration of the tooling calibration can be ensured through each center line and vertical bisector.

[0030] As a specific implementation manner, the included angle range between the extending direction of the first reflector 161 and the extending direction of the second reflector 162 is 80 degrees to 100 degrees. Setting an appropriate included angle range can match lasers at different angles, so that the accuracy of the calibration can be verified according to multiple angle adjustments of the laser. The preferred included angle value between the extending direction of the first reflector 161 and the extending direction of the second reflector 162 in this solution is 90 degrees.

[0031] As a specific implementation manner, an installation platform 17 is provided below the reference plate 16, and a plurality of sucker support feet 18 are provided below the installation platform 17 to stably support the reference plate 16 above.

[0032] Furthermore, a telescopic cylinder 19 is provided between the sucker support foot 18 and the installation platform 17 to adjust the height of the installation platform 17, so as to adapt to flat plates 14 at different heights or handling robots 11 at different heights. During installation, the telescopic cylinder 19 is installed below the installation platform 17, and then the sucker support foot 18 is fixed to the end of the cylinder rod of the telescopic cylinder 19.

[0033] Even further, at the position where the vertical bisector of the reference plate 16 passes through the upper end of the reference plate 16, a height detection sensor 20 is provided. The height detection sensor is communicatively connected to the telescopic cylinder 19. In this way, the height of the reference plate 16 relative to the handling robot 11 to be calibrated can be detected through the height detection sensor 20, and then the height of the reference plate 16 can be adjusted by controlling the telescopic cylinder 19 according to the detected height. At the position where the vertical bisector of the reference plate 16 passes through the lower end of the reference plate 16, a distance detection sensor 21 is provided. The distance detection sensor 21 is communicatively connected to a first alarm. The first alarm is installed on the installation platform 17, so that the distance detection sensor 21 can detect the distance between the reference plate 16 and the flat plate 14. When the distance is accurate, the alarm emits an alarm sound.

[0034] As a specific implementation, a laser emitter is provided at the end of the flat plate 14 facing the reference plate 16. Laser sensors 22 are distributed along the perpendicular bisector of the reference plate 16. The laser emitter is communicatively connected to a second alarm, and the second alarm is installed at the rear side of the reference plate 16. In this way, the alignment of the center line of the flat plate 14 and the perpendicular bisector of the reference plate 16 can be confirmed through the light illumination sensing between the laser emitter and the laser sensors 22, thereby calibrating the relative positions of the reference plate 16 and the flat plate 14, and further ensuring the accuracy of the calibration through the data feedback of the laser sensor 112.

[0035] Through the above high-precision calibration tooling, the code reading camera 111 and the laser sensor 112 can be finely calibrated, and the installation and detection angles of the code reading camera 111 and the laser sensor 112 can be detected, so as to accurately position the pose of the handling robot, ensure the accuracy of the pose estimation of the robot, and the operation is simple.

[0036] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the above embodiments do not limit the present invention in any form. Any technical solutions obtained by using equivalent replacements or equivalent transformations fall within the protection scope of the present invention.

Claims

1. A high-precision calibration tooling, comprising: Handling robot; a code reading camera is provided on the chassis of the handling robot; Laser sensors are provided at the front and rear ends of the handling robot; characterized in that, The high-precision calibration tooling further includes: an inclined plate having a slope for the handling robot to travel on, a flat plate provided with a horizontal platform for the handling robot to park on, and a reference reference plate; One end of the inclined plate is connected to the flat plate; A two-dimensional code for the code reading camera to identify to control the travel of the handling robot is provided on the inclined plate; A grid plate composed of multiple grids is provided on the horizontal platform of the flat plate for the code reading camera to identify to calibrate the position of the handling robot; The reference reference plate is located at the front end of the flat plate away from the inclined plate, and is provided with a first reflector and a second reflector for the laser sensor to irradiate and reflect light; The reflecting surfaces of the first reflector and the second reflector are both perpendicular to the horizontal plane; The reflection coefficient of the first reflector is greater than that of the second reflector.

2. The high-precision calibration tooling according to claim 1, characterized in that, Multiple two-dimensional codes are provided on the inclined plate; The multiple two-dimensional codes are evenly distributed along the center line of the inclined plate.

3. The high-precision calibration tooling according to claim 2, characterized in that, The grid plate is located on the center line of the flat plate and is symmetrically arranged with respect to the center line of the flat plate.

4. The high-precision calibration tooling according to claim 3, characterized in that, The plane where the perpendicular bisector of the reference reference plate is located, the plane where the center line of the flat plate is located, and the plane where the center line of the inclined plate is located coincide with each other.

5. The high-precision calibration tooling according to claim 4, characterized in that, The first reflector and the second reflector are symmetrically arranged with respect to the perpendicular bisector of the reference reference plate.

6. The high-precision calibration tooling according to claim 1, characterized in that, The range of the angle between the extending direction of the first reflector and the extending direction of the second reflector is 80 degrees to 100 degrees.

7. The high-precision calibration tooling according to claim 1, characterized in that, An installation platform is provided below the reference reference plate; Multiple sucker support feet are provided below the installation platform.

8. The high-precision calibration tooling according to claim 7, characterized in that, A telescopic cylinder for adjusting the height of the installation platform is provided between the sucker support feet and the installation platform; The telescopic cylinder is installed below the installation platform; The sucker support feet are fixed to the end of the cylinder rod of the telescopic cylinder.

9. The high-precision calibration tooling according to claim 8, characterized in that, A height detection sensor for detecting the height of the reference reference plate relative to the handling robot to be calibrated is provided at the upper end of the reference reference plate at the position where the perpendicular bisector of the reference reference plate passes through; A distance detection sensor for detecting the distance between the reference reference plate and the flat plate is provided at the lower end of the reference reference plate at the position where the perpendicular bisector of the reference reference plate passes through; The height detection sensor is communicatively connected to the telescopic cylinder; The distance detection sensor is communicatively connected to a first alarm; The first alarm is installed on the installation platform.

10. The high-precision calibration tool according to claim 1, characterized in that: A laser emitter is provided at the end of the flat plate facing the datum reference plate; The reference plate is provided with laser sensors distributed along its perpendicular bisector for sensing the laser emitted by the laser emitter to calibrate the relative position of the reference plate and the flat plate; The laser transmitter is communicatively connected to a second alarm; The second alarm is installed on the rear side of the benchmark reference plate.

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