Sweeper gyroscope LDS calibration tool

Abstract

A sweeper gyroscope LDS calibration tool comprises a test board, a horizontal rotary table, a hollow servo motor, a movable reflecting plate, a first infrared acquisition camera, a second infrared acquisition camera, a laser range finder and the like. The horizontal rotary table is driven by a hollow servo motor to rotate, and a connector is arranged at the axis of the horizontal rotary table to fix the sweeper. The movable reflecting plate is adjusted in the radial direction of the rotary table through the sliding rail and is matched with the first infrared collecting camera to collect LDS laser reflecting signals. The laser range finder detects the lifting height of the LDS module, and the second infrared acquisition camera analyzes the laser angle deviation through the number of infrared light spots; the hollow motor, the reflecting plate and the sensor are all communicated with an upper computer, so that the zero drift of the gyroscope, the LDS ranging precision, the laser angle and the mounting height are synchronously calibrated; and a profiling baffle and a positioning column are adopted to realize quick positioning. The device integrates a multi-parameter calibration function, has the characteristics of high efficiency, accuracy, strong compatibility and safety protection, and effectively solves the problems of low efficiency and insufficient accuracy of traditional calibration.

Description

TECHNICAL FIELD

[0001] The utility model relates to a calibration technical field of sweeping robot, especially relates to a sweeping robot gyroscope LDS calibration tool. BACKGROUND

[0002] Sweeping robots usually use laser radar (LDS) and gyroscopes for environmental perception and autonomous navigation. However, due to factors such as assembly errors and sensor drift, the ranging data of the laser radar and the attitude data of the gyroscope may be biased, resulting in inaccurate positioning of the robot and affecting the cleaning path planning.

[0003] Existing calibration methods usually use manual adjustment or single sensor calibration, which is low in efficiency and insufficient in accuracy. Some automated calibration equipment has poor compatibility and limited adjustment range.

[0004] Therefore, in view of the deficiencies in the prior art, it is necessary to design a sweeping robot gyroscope LDS calibration tool to solve the above problems.

[0005] It should be noted that the above introduction to the technical background is only to facilitate a clear and complete description of the technical scheme of the utility model, and to facilitate the understanding of those skilled in the art, and the above content cannot be considered as known by those skilled in the art because it is described in the background of the utility model. INVENTION CONTENTS

[0006] In order to overcome the deficiencies in the prior art, the utility model aims to disclose a sweeping robot gyroscope LDS calibration tool to realize rapid and accurate calibration of the sweeping robot gyroscope and the LDS.

[0007] The utility model discloses a sweeping robot gyroscope LDS calibration tool, which comprises a test table, a horizontal turntable is arranged on the test table, the horizontal turntable is driven to rotate through a hollow motor, and the axis of the hollow motor is provided with a connecting head for connecting the sweeping robot.

[0008] A movable reflecting plate is arranged on one side of the horizontal turntable, and a first infrared acquisition camera is arranged on the opposite side, which is used to acquire the laser reflection signal of the LDS module of the sweeping robot. A laser range finder and a second infrared acquisition camera are arranged above the horizontal turntable. The laser range finder is used to detect whether the lifting height of the LDS module meets the standard. The second infrared acquisition camera determines whether the laser irradiation angle of the LDS module deviates by detecting the number of discrete infrared spots on the upper end surface of the sweeping robot. The hollow motor, the first infrared acquisition camera, the laser range finder, the second infrared acquisition camera and the connecting head are all in communication connection with the upper computer software. The upper computer software rapidly and accurately calibrates the gyroscope and the LDS of the sweeping robot according to the data feedback.

[0009] The movable reflection plate is slidably connected with the test table through a sliding rail, and the extension direction of the sliding rail is parallel to the radial direction of the horizontal turntable, so that the sweeping machine of different sizes can be adapted.

[0010] The surface of the reflection plate is made of high reflectivity material, so that the accuracy of infrared signal acquisition is ensured.

[0011] The upper end of the hollow motor is detachably provided with at least two positioning columns and a baffle, the contact surface of the baffle is provided with a profiling structure capable of being clamped with the shell of the sweeping machine, so that the sweeping machine can be quickly positioned and fixed, and the motion stability of the sweeping machine during rotation of the horizontal turntable is improved.

[0012] The test table is provided with a lifting frame, the movable end of the lifting frame is provided with a horizontal extension rod, and the laser range finder can be adjusted along the axial direction of the horizontal extension rod, so that the detection of sweeping machines of different models is adapted, and the compatibility of the equipment is improved.

[0013] The hollow motor is a hollow servo motor, so that the high-precision control of the rotation angle of the horizontal turntable is ensured.

[0014] The edge of the horizontal turntable is provided with a calibration photoelectric element, which is used for calibrating the horizontal turntable and eliminating the precision deviation caused by continuous rotation.

[0015] The test table is also connected with a display, which displays the calibration results in real time, so that the operator can monitor.

[0016] The front end of the test table is provided with a pair of photoelectric elements, which are used for monitoring the picking and placing operation process of the sweeping machine, so as to avoid damaging the operator.

[0017] Due to the use of the above technical scheme, the utility model has the beneficial effects compared with the prior art:

[0018] 1) The first infrared camera detects the laser reflection signal, the second camera analyzes the angle deviation through the number of infrared light spots, the LDS ranging and angle parameters are double-checked, and the comprehensive error is calibrated.

[0019] 2) The hollow servo motor cooperates with the turntable edge calibration photoelectric element to realize the rotation angle control precision, eliminate the mechanical cumulative error, and ensure the reliability of the gyroscope dynamic calibration data.

[0020] 3) The profiling baffle + positioning column structure realizes the "blind insertion" fixing of the sweeping machine, the hollow motor shaft center connector is connected with the communication interface, and the manual intervention is reduced.

[0021] 4) The sliding rail reflection plate is adapted to the body width of sweeping machines of different models, and the lifting frame is adapted to the LDS lifting height of sweeping machines of different models, so that the compatibility is high.

[0022] 5) One-time completion of gyroscope zero drift, LDS ranging accuracy, laser emission angle, installation height four core parameter calibration, avoid step operation error.

[0023] 6) Light-emitting photo emergency stop, ensure equipment and personnel safety, meet industrial safety standards. BRIEF DESCRIPTION OF DRAWINGS

[0024] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0025] Figure 1 It is a structure schematic view of the present application.

[0026] Figure 2 It is a structure schematic view of the horizontal turntable in the present application.

[0027] In the above drawings, 1, test bench; 11, slide rail; 12, lifting frame; 13, horizontal extension rod; 14, light-emitting photo; 15, display; 2, horizontal turntable; 21, calibration photo; 3, hollow motor; 4, reflecting plate; 5, first infrared acquisition camera; 6, laser range finder; 7, second infrared acquisition camera; 8, positioning column; 9, baffle; 91, profiling structure. DETAILED DESCRIPTION

[0028] The embodiments of the present application will be described below by specific examples. Those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in the specification.

[0029] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so as to describe the embodiments of the present application. In addition, the terms "include" and "have" and their synonyms, are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0030] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0031] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned terms may also be used to indicate other meanings, for example, the term "upper" may also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific circumstances.

[0032] In addition, the terms "mounting", "setting", "provided with", "connecting", "connecting", "sleeving", "fitting" should be understood broadly. For example, "connecting" can be fixed connection, detachable connection, or integral structure; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium, or internal communication between two devices, elements or components. For example, "fitting" can be complete fitting or partial fitting. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0033] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0034] Embodiment:

[0035] As shown in Figure 1 and Figure 2 The utility model provides a kind of sweeper gyroscope LDS calibration tool, including test table 1, horizontal rotary table 2, hollow motor 3, movable reflector plate 4, first infrared acquisition camera 5, laser range finder 6 and second infrared acquisition camera 7. Each component cooperates, and the automatic calibration of sweeper gyroscope and LDS is realized by host computer software, and specific structure and function are as follows:

[0036] Horizontal rotary table 2 is rotated by hollow motor 3 drive, and its axis is provided with connector, for the communication interface of the quick docking of the sweeper to be calibrated;The upper end of hollow motor 3 is provided with detachable positioning column 8 and baffle 9, and the contact surface of baffle 9 is designed as profiled structure 91, which is matched with the outline of sweeper shell, realizes "blind insertion" type positioning and fixing, and ensures the stability of equipment during rotation;

[0037] One side of the horizontal turntable 2 is provided with a movable reflecting plate 4 which slides along the horizontal turntable 2 in the radial direction through a slide rail 11, and is suitable for different sizes of sweeping machines; the surface of the reflecting plate 4 is made of high reflectivity material to ensure the accurate reflection of the LDS laser signal; the opposite side of the reflecting plate 4 is provided with a first infrared acquisition camera 5 for real-time acquisition of the laser signal on the reflecting plate and feedback of the data to the upper computer software to analyze the LDS ranging accuracy and continuity.

[0038] A laser range finder 6 and a second infrared acquisition camera 7 are arranged above the horizontal turntable 2; the laser range finder 6 is installed on a horizontal extension rod 13 of a lifting frame 12, and by adjusting the axial position of the extension rod 13 and the height of the lifting frame 12, the LDS module installation height detection requirement of different models of sweeping machines can be adapted; the second infrared acquisition camera 7 calculates the laser emission angle deviation by capturing the number of discrete infrared light spots on the upper end face of the LDS module, and realizes double verification.

[0039] A calibration photoelectric element 21 is arranged at the edge of the horizontal turntable 2 for real-time monitoring of the rotation angle of the turntable to eliminate mechanical cumulative error; a front end of the test table 1 is provided with a light emitting and receiving photoelectric element 14 for monitoring the taking and placing operation of the sweeping machine and triggering an emergency stop protection to prevent misoperation; and a display 15 is connected to display the calibration parameters and results in real time, facilitating the monitoring of the operator.

[0040] The hollow motor 3, the first infrared acquisition camera 5, the laser range finder 6, the second infrared acquisition camera 7, the calibration photoelectric element 21 and the light emitting and receiving photoelectric element 14 are all in communication connection with the upper computer software; during the calibration process, the upper computer synchronously receives the data of each sensor, automatically calculates the gyroscope zero point drift, the LDS ranging error, the laser angle deviation and the installation height parameters, and dynamically adjusts the rotation angle of the horizontal turntable 2 through the hollow motor 3 to complete the integrated calibration.

[0041] Reference Figure 1 And Figure 2 As shown in the utility model, the use method and principle are as follows:

[0042] Step one: place the sweeping machine on the horizontal turntable 2 and quickly fix it through the profiling baffle 9 and the positioning column 8;

[0043] Step two: slide the reflecting plate 4 to the adaptive position through the slide rail 11, and adjust the position and height of the laser range finder 6 to the target detection point;

[0044] Step three: start the upper computer software to control the hollow motor 3 to drive the horizontal turntable 2 to rotate at a constant speed;

[0045] Step four: the first infrared acquisition camera 5 acquires the laser reflection signal, the second infrared acquisition camera 7 captures the light spot distribution, and the laser range finder 6 records the height data;

[0046] Step five: the host computer synthesizes and analyzes data, generates calibration parameters and automatically corrects the sensor deviation of the sweeper.

[0047] As shown in Figure 1 and Figure 2 The hollow motor 3 is a hollow servo motor, which ensures the operation accuracy.

[0048] Finally, it should be noted that the above is only the preferred embodiments of the present application, and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included within the protection scope of the present application.

Claims

1. A kind of sweeper gyroscope LDS calibration tool, including test table (1), it is characterized in that: The test table (1) is equipped with horizontal turntable (2), the horizontal turntable (2) is rotated by hollow motor (3) driving, and the axis of hollow motor (3) is equipped with the connector for connecting sweeper; The side of the horizontal turntable (2) is equipped with movable reflector plate (4), and the opposite side is equipped with first infrared acquisition camera (5);The top of the horizontal turntable (2) is equipped with laser range finder (6) and second infrared acquisition camera (7);The hollow motor (3), first infrared acquisition camera (5), laser range finder (6), second infrared acquisition camera (7) and connector are all connected with upper computer software communication. 2.The LDS calibration tool for a gyro of a robot vacuum cleaner according to claim 1, wherein: The movable reflector plate (4) is slidably connected with test table (1) by slide rail (11), and the extension direction of the slide rail (11) is parallel to the radial direction of the horizontal turntable (2).

3. The sweeper gyroscope LDS calibration tool of claim 1, wherein: The surface of the reflector plate (4) is made of high reflectivity material.

4. The sweeper gyroscope LDS calibration tool of claim 1, wherein: The upper end of the hollow motor (3) is detachably provided with at least two positioning columns (8) and baffle (9), and the contact surface of the baffle (9) is provided with a profiled structure (91) which can be clamped with the shell of the sweeper.

5. The sweeper gyroscope LDS calibration tool of claim 1, wherein: The test table (1) is equipped with lifting frame (12), and the movable end of the lifting frame (12) is equipped with horizontal extension rod (13), and the laser range finder (6) can be adjusted along the axial direction of the horizontal extension rod (13).

6. The sweeper gyroscope LDS calibration tool of claim 1, wherein: The hollow motor (3) is hollow servo motor.

7. The robot LIDAR calibration tool of claim 1, wherein: The edge of the horizontal turntable (2) is equipped with calibration photoelectric (21). 8.The robot vacuum cleaner gyroscope LDS calibration tool of claim 1, wherein: The test table (1) is further connected with display (15).

9. The sweeper gyroscope LDS calibration tool of claim 1, wherein: The front end of the test table (1) is equipped with opposite photoelectric (14).

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