CN110987019A

CN110987019A - Calibration tool and calibration method

Info

Publication number: CN110987019A
Application number: CN201911318977.7A
Authority: CN
Inventors: 蔡杭
Original assignee: Nanjing Geek+ Robot Co ltd
Current assignee: Nanjing Geek+ Robot Co ltd
Priority date: 2019-12-19
Filing date: 2019-12-19
Publication date: 2020-04-10

Abstract

The specification discloses a calibration tool and a calibration method, and the calibration tool in the embodiment of the specification comprises: the calibration device comprises a calibration tray for bearing the self-guiding robot and a calibration top plate arranged on the calibration tray, wherein calibration marks are arranged on the upper surface of the calibration tray and/or the lower surface of the calibration top plate. When the self-guiding robot is placed at the designated position of the calibration tray, a distance is reserved between the self-guiding robot and the calibration mark, and the orthographic projection of the designated point of the self-guiding robot on the horizontal plane is overlapped with the orthographic projection of the central point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guiding robot. The embodiment of the specification assists the self-guiding robot to complete the calibration test work of the image sensor through the calibration tool, and greatly improves the efficiency of the calibration test.

Description

Calibration tool and calibration method

Technical Field

The specification relates to the technical field of robots, in particular to a calibration tool and a calibration method for an image sensor in a self-guided robot.

Background

Currently, devices (e.g., self-Guided robots) such as Automated Guided Vehicles (AGVs) are widely used in the fields of warehousing, logistics, and the like to realize Automated transportation of goods.

In the order processing process of the warehouse, a picking link is usually involved, and the picking link mainly refers to that each goods related to a plurality of orders are taken out from each goods storage area in the warehouse through an AGV and are uniformly conveyed to a designated sorting place. The homing robot may be equipped with two image sensors (e.g., cameras) facing up and down, and may travel according to a navigation path determined by the control system during the picking process based on visual marker navigation techniques. Specifically, the homing robot can shoot the ground mark according to the downward image sensor and drive to the position below the appointed goods shelf; after the self-guiding robot runs to the position below the appointed goods shelf, the two-dimensional code marks on the goods shelf are correctly shot through the upward image sensor, and the self-guiding robot is ensured to be positioned under the goods shelf, so that the self-guiding robot can be stably lifted and carried. The self-guiding robot is under the command of the control system, and after the goods shelf is transported to the picking work station, the self-guiding robot waits for further operation.

When the two upward and downward image sensors are respectively arranged in the middle of the upper surface and the middle of the lower surface of the self-guiding robot, the self-guiding robot can accurately run along the navigation path under the command of the control system. However, in the manufacturing and installation processes of the self-guiding robot, the upward and downward image sensors are inevitably installed with deviation, and in order to ensure that the self-guiding robot can accurately travel according to the navigation path in the picking process, before the self-guiding robot is actually applied to the picking process, calibration tests need to be performed on the upward and downward image sensors.

Disclosure of Invention

The embodiment of the specification provides a calibration tool and a calibration method, and aims to partially solve the problems in the prior art.

The embodiment of the specification adopts the following technical scheme:

this specification provides a mark frock, includes:

the calibration tray is used for bearing the self-guiding robot;

the calibration top plate is arranged on the calibration tray;

calibration marks are arranged on the upper surface of the calibration tray and/or the lower surface of the calibration top plate;

when the self-guiding robot is placed at the designated position of the calibration tray, a distance is reserved between the self-guiding robot and the calibration mark, and the orthographic projection of the designated point of the self-guiding robot on the horizontal plane is coincident with the orthographic projection of the central point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guiding robot.

Optionally, the calibration marks include a first calibration mark and a second calibration mark, the first calibration mark is disposed on the upper surface of the calibration tray, the second calibration mark is disposed on the lower surface of the calibration top plate, and projections of a center point of the second calibration mark, a center point of a standard mounting position of an upward image sensor in the self-guided robot, and a center point of a standard mounting position of a downward image sensor in the self-guided robot, on the calibration tray, are all overlapped with the center point of the first calibration mark. And a distance is reserved between the upward image sensor in the self-guided robot and the second calibration mark, and a distance is also reserved between the downward image sensor in the self-guided robot and the first calibration mark.

Optionally, the calibration top plate is detachably connected with the calibration tray.

Optionally, the calibration top plate takes the central point of the second calibration identifier as a symmetric center, and is in a bilateral symmetric structure.

Optionally, the upper surface of the calibration top plate is provided with a second calibration identifier, the lower surface of the calibration top plate is also provided with a second calibration identifier, and projections of central points of the two second calibration identifiers on the calibration tray are respectively overlapped with the central point of the first calibration identifier.

Optionally, two supporting parts are vertically arranged on two sides of the upper surface of the calibration tray, each supporting part comprises a first supporting part and a second supporting part which are integrally formed, the height of the first supporting part is greater than that of the second supporting part, the bottom surface of the first supporting part is fixedly connected with the calibration tray, the top surface of the first supporting part is attached to the bottom surface of the second supporting part, and the area of the bottom surface of the second supporting part is smaller than that of the top surface of the first supporting part. The two ends of the calibration top plate are provided with fixing holes, the area of each fixing hole is smaller than that of the top surface of the first supporting part, and the two fixing holes are respectively sleeved on the second supporting parts of the two supporting parts.

Optionally, a first fixing plate is further disposed below the first supporting portion, the bottom surface of the first fixing plate is fixedly connected with the calibration tray, the top surface of the first fixing plate is attached to the bottom surface of the first supporting portion, and the area of the top surface of the first fixing plate is larger than that of the bottom surface of the first supporting portion.

Optionally, the calibration tool further includes a positioning pin, a plurality of first upper positioning holes are formed through a region where the top surface of the first fixing plate is not attached to the bottom surface of the first supporting portion, a plurality of first lower positioning holes corresponding to the first upper positioning holes one to one are formed in the calibration tray, the first upper positioning holes corresponding to the first lower positioning holes one to one are concentrically arranged with the first lower positioning holes, and the positioning pin sequentially penetrates through the first upper positioning holes and the first lower positioning holes from top to bottom to connect the first fixing plate with the calibration tray.

Optionally, a first fixed block is further arranged below the first fixed plate, the top surface of the first fixed block is attached to the bottom surface of the first fixed plate, and the area of the top surface of the first fixed block is smaller than that of the bottom surface of the first fixed plate. The calibration tray is further provided with two first fixed block grooves which are in one-to-one correspondence with the two first fixed blocks, the two first fixed blocks are respectively arranged in the two first fixed block grooves, and the sizes of the first fixed blocks and the first fixed block grooves are matched.

Optionally, be equipped with a plurality of pillar subassembly on the demarcation tray, every the pillar subassembly all includes integrated into one piece's first pillar and second pillar, the bottom surface of first pillar with demarcation tray fixed connection, the top surface of first pillar with the laminating of the bottom surface of second pillar, just the bottom surface area of second pillar is less than the top surface area of first pillar. A plurality of base holes are formed in the bottom surface of the self-guiding robot, the area of each base hole is smaller than that of the top surface of the first supporting column, and the designated positions are as follows: the positions of the base holes correspond to the positions of the second supporting columns one by one, and the plurality of base holes in the bottom surface of the self-guiding robot are sleeved on the second supporting columns one by one.

Optionally, a second fixing plate is further disposed below the first support, a bottom surface of the second fixing plate is fixedly connected to the calibration tray, a top surface of the second fixing plate is attached to the bottom surface of the first support, and an area of the top surface of the second fixing plate is larger than an area of the bottom surface of the first support.

Optionally, the calibration tool further includes a positioning pin, a plurality of second upper positioning holes are formed through a region, where the top surface of the second fixing plate is not attached to the bottom surface of the first support, of the calibration tray, a plurality of second lower positioning holes corresponding to the second upper positioning holes one to one are formed in the calibration tray, the second upper positioning holes corresponding to the second upper positioning holes one to one are concentrically arranged with the second lower positioning holes, and the positioning pin sequentially penetrates through the second upper positioning holes and the second lower positioning holes from top to bottom to connect the second fixing plate with the calibration tray.

Optionally, a second fixed block is further arranged below the second fixed plate, the top surface of the second fixed block is attached to the bottom surface of the second fixed plate, and the area of the top surface of the second fixed block is smaller than that of the bottom surface of the second fixed plate. The calibration tray is further provided with a plurality of second fixed block grooves which are in one-to-one correspondence with the plurality of second fixed blocks, the plurality of second fixed blocks are respectively arranged in the plurality of second fixed block grooves, and the sizes of the second fixed blocks and the second fixed block grooves are matched.

Optionally, the top of the second support portion is chamfered.

Optionally, the top of the second pillar is chamfered.

The calibration method provided by the specification adopts the calibration tool, and the method comprises the following steps:

placing a self-guided robot on a designated position of a calibration tray, so that a distance is reserved between the self-guided robot and a calibration mark, and the orthographic projection of a designated point of the self-guided robot on a horizontal plane is overlapped with the orthographic projection of a central point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of an image sensor on the self-guided robot;

acquiring an image by an image sensor mounted on the self-guided robot;

according to the acquired image, determining the position of the calibration identifier contained in the image;

and calibrating the installation error of the image sensor according to the position of the calibration mark in the image.

Optionally, determining, according to the acquired image, a position of the calibration identifier included in the image, specifically including: performing image processing on the image to identify a pattern contained in the image; determining a pattern of the calibration marks in a pattern contained in the image; determining the position of the calibration mark contained in the image according to the pattern of the calibration mark; wherein the image processing at least comprises at least one of graying, color inversion, filtering and edge detection.

Optionally, determining the pattern of the calibration identifier in the pattern included in the image specifically includes: acquiring a standard pattern of the calibration mark; judging whether the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold or not aiming at each pattern contained in the image; if so, taking the pattern as the pattern of the calibration mark.

Optionally, determining whether the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold specifically includes: judging whether the difference value between the length of the pattern contour and the length of the standard pattern contour is smaller than a preset first threshold value or not; and/or judging whether the difference value of the area of the pattern and the area of the standard pattern is smaller than a preset second threshold value or not; and if so, judging that the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold.

Optionally, calibrating the installation error of the image sensor according to the position of the calibration identifier in the image, specifically including: taking the pattern of the calibration mark as a designated pattern; determining the position coordinates of the central point of the specified pattern in the image and the rotation angle of the specified pattern by taking the specified point as a coordinate origin; determining the offset of the image sensor according to the position coordinates; and calibrating the installation error of the image sensor according to the offset and the rotation angle.

Optionally, after calibrating the image sensor, the method further includes: compensating the installation error of the image sensor according to the calibrated image sensor; and controlling the self-guiding robot according to the compensated installation error.

The embodiment of the specification adopts at least one technical scheme which can achieve the following beneficial effects:

the calibration tool in the embodiment of the specification comprises: the calibration device comprises a calibration tray for bearing the self-guiding robot and a calibration top plate arranged on the calibration tray, wherein calibration marks are arranged on the upper surface of the calibration tray and/or the lower surface of the calibration top plate. When the self-guiding robot is placed at the designated position of the calibration tray, a distance is reserved between the self-guiding robot and the calibration mark, and the orthographic projection of the designated point of the self-guiding robot on the horizontal plane is overlapped with the orthographic projection of the central point of the calibration mark on the horizontal plane, wherein the designated point is the standard installation position of the image sensor on the self-guiding robot. The embodiment of the specification assists the self-guiding robot to complete the calibration test work of the image sensor through the calibration tool, and greatly improves the efficiency of the calibration test.

Drawings

The accompanying drawings, which are included to provide a further understanding of the specification and are incorporated in and constitute a part of this specification, illustrate embodiments of the specification and together with the description serve to explain the specification and not to limit the specification in a non-limiting sense. In the drawings:

FIG. 1A is a flow chart of the operation of a cargo picking system provided herein;

fig. 1B is a schematic structural diagram of a homing robot provided herein;

FIG. 1C is a schematic view of a product being placed on an inventory holder as provided herein;

FIG. 1D is a schematic view of the structure of the present disclosure showing the placement of goods on the planter wall;

fig. 2 is a schematic structural diagram of a calibration tool provided in this specification;

fig. 3 is a schematic diagram of a homing robot placed on a calibration fixture provided in the present specification;

FIG. 4 is a schematic structural view of a calibration top plate provided herein;

FIG. 5 is a side view of a support provided herein;

FIG. 6 is a top view of a support provided herein;

FIG. 7 is a top view of a calibration tray provided herein;

fig. 8 is a schematic structural view of a groove and a first lower positioning hole of a first fixing block in the calibration tray provided in the present specification;

FIG. 9 is a side view of a strut assembly provided herein;

FIG. 10 is a top view of a strut assembly provided herein;

fig. 11 is a schematic structural view of a groove and a second lower positioning hole of a second fixing block in the calibration tray provided in the present specification;

fig. 12 is a schematic view of a bottom of a homing robot provided herein.

Fig. 13 is a schematic flow chart of a calibration method provided in the present description.

The meaning of the reference numerals: 1-calibration tray, 101-drive mechanism, 102-lift mechanism, 103-image sensor, 110-pillar assembly, 111-first pillar, 112-second pillar, 113-second fixing plate, 114-second fixing block, 115-first lower positioning hole, 116-second lower positioning hole, 2-calibration top plate, 21-fixing hole, 3-positioning pin, 4-first calibration mark, 5-second calibration mark, 6-support, 61-first support portion, 62-second support portion, 63-first fixing plate, 64-first fixing block, 65-first upper positioning hole, 66-second upper positioning hole, 7-first fixing block groove, 8-second fixing block groove, 9-base hole, 10-self-guided robot, 20-controller, 30-stock area, 31-stock support, 311-two-dimensional code mark, 312-support frame, 40-picking workstation, 41-staff, 50-turnover box, 60-goods and 100-operation table.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present specification. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the specification, as detailed in the appended claims.

The terminology used in the description herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the description. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of the present specification. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

The self-guiding robot 10 provided by the embodiment of the present specification can be applied to a cargo picking system. As shown in fig. 1A, fig. 1A is a flow chart of the operation of a cargo picking system in a warehousing environment. The cargo picking system comprises: the homing robot 10, the remote controller 20, the stock area 30 and the picking workstation 40, wherein the stock area 30 contains a plurality of stock supports 31 like shelves or shelves, various stock goods are placed on the stock supports 31, or stock containers are placed on the stock supports 31, various stock goods are contained in the stock containers, the plurality of stock supports 31 form a group, and the different groups are arranged in an array form.

The operator 41 operates the controller 20 through the console 100, and the controller 20 wirelessly communicates with the homing robot 10, so that the homing robot 10 performs a transportation task under the control of the controller 20. For example, the controller 20 selects the stock rack 31 or the stock container on the stock rack 31 for the order according to the stock information, the stock rack 31 or the stock container contains the order goods of the order, in addition, the controller 20 selects the picking workstation 40 and the homing robot 10 for the order, and plans a navigation path from the original position to the selected picking workstation 40 for the selected homing robot 10, and the homing robot 10 travels along the vacant space (a part of the passage for the homing robot 10 to pass through) in the array of the stock racks 31 according to the navigation path. In order to facilitate planning of the navigation path for the homing robot 10, the work area of the homing robot 10 (the work area includes at least the stock area 30 and the area where the picking workstation 40 is located) may be divided into several sub-areas (i.e., cells) in advance, and the homing robot 10 moves from sub-area to form a motion trajectory.

The compartment on the stock support 31 can be used for loading stock containers such as bins or trays, the bins can be used for accommodating stock articles (such as canned coke) with parts removed, and the trays can be used for accommodating stock articles (such as coke) with whole trays. The homing robot 10 may transport the entire inventory holder 31 to the picking station 40 for delivery of the item picking operation, and may also grasp inventory receptacles (e.g., bins or pallets) on the inventory holder 31 and transport the inventory receptacles to the picking station 40 for delivery of the item picking operation. Of course, other suitable loading methods for loading bins, trays or other types of inventory receptacles may be used for the inventory racks 31 and are within the scope of the embodiments described herein.

Taking the self-guided robot 10 as an example for handling the inventory holders 31, as shown in fig. 1B, the self-guided robot 10 may include a drive mechanism 101 by which the self-guided robot 10 can move within the work area, the self-guided robot 10 may further include a lifting mechanism 102 for handling the inventory holders 31, and the self-guided robot 10 may move below the inventory holders 31, lift the inventory holders 31 using the lifting mechanism 102, and handle to the assigned picking work station 40. The lifting mechanism 102 lifts the entire stock rack 31 from the ground so that the homing robot 10 carries the stock rack 31, and the lifting mechanism 102 lowers the stock rack 31 on the ground. The image sensor 103 (e.g., a camera) on the homing robot 10 can effectively identify the inventory holder 31 when the homing robot 10 lifts the inventory holder 31.

In addition, if navigation is based on visual markers, the self-guided robot 10 includes a navigation recognition component (not shown in fig. 1B) for recognizing the markers (e.g., two-dimensional codes) laid on the ground. The self-guided robot 10 may adopt other navigation methods such as inertial navigation and SLAM navigation, besides the visual marker navigation, and may also combine two or more navigation methods such as two-dimensional code navigation and inertial navigation, SLAM navigation and two-dimensional code navigation. Of course, the homing robot 10 also includes a control module (not shown in fig. 1B) that controls the entire homing robot 10 to perform functions such as movement, navigation, and the like.

In one example, the homing robot 10 includes at least two image sensors 103 facing up and down, which can capture information of the two-dimensional code marker 311 (and other ground markers as well) from the image sensor 103 facing down and travel forward, and can travel under the inventory holder 31 prompted by the controller 20 according to the navigation path determined by the controller 20. As shown in fig. 1C, fig. 1C is a schematic view of the present specification illustrating a structure of placing the goods on the stock rack, the stock rack 31 may directly store the goods 60, but the goods 60 may also be stored in a stock container, such as a bin or a tray. In certain embodiments, the inventory holder 31 includes a plurality of vertically stacked compartments, each compartment capable of holding a plurality of goods 60. The two-dimensional code mark 311 is arranged at the center of the bottom of the inventory holder 31, and after the self-guided robot 10 runs below the inventory holder 31, the upward image sensor 103 correctly shoots the two-dimensional code mark 311 to ensure that the self-guided robot 10 is right below the inventory holder 31, so that the self-guided robot 10 can smoothly lift and carry the inventory holder 31, and the inventory holder 31 comprises one or more support frames 312. Additionally, in certain embodiments, the goods 60 may also be suspended from hooks or rods within the inventory holder 31 or on the inventory holder 31. The cargo 60 can be placed on the inventory holder 31 on the interior or exterior surface of the inventory holder 31 in any suitable manner.

After the homing robot 10 has carried the inventory holders 31 to the picking station 40, the goods 60 are picked from the inventory holders 31 at the picking station 40 by a worker 41 or automated equipment (e.g., robotic arm) performing the picking operation and placed into the totes 50 on the seeding wall for further operations, such as wrapping operations, as shown in fig. 1D.

All the processes are the picking link of the order processing flow in the warehouse, and after the picking link is finished, the packaged packages need to be subjected to package sorting operation, and finally, express delivery is carried out.

The following describes in detail a calibration tool and a calibration method for an image sensor in a self-guided robot in this specification, with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

As shown in fig. 2 and fig. 3, the calibration tool provided in the embodiment of the present specification includes: the calibration tray 1 is used for bearing the homing robot 10, the calibration top plate 2 is arranged on the calibration tray 1, and calibration marks are arranged on the upper surface of the calibration tray 1 and/or the lower surface of the calibration top plate 2. When the homing robot 10 is placed at the designated position of the calibration pallet 1, there is a space between the homing robot 10 and the calibration marker, and the orthographic projection of the designated point of the homing robot 10 on the horizontal plane coincides with the orthographic projection of the center point of the calibration marker on the horizontal plane, wherein the designated point is the standard mounting position of the image sensor 103 on the homing robot 10. The designated point may be the center point of the standard mounting position of the image sensor 103 on the homing robot 10, or may be another point.

The calibration mark is used in the calibration process of the image sensor 103 of the homing robot 10, so that the image sensor 103 collects a calibration mark image for calibration. The calibration mark may be only disposed on the upper surface of the calibration tray 1, or only disposed on the lower surface of the calibration top plate 2, or disposed on both the upper surface of the calibration tray 1 and the lower surface of the calibration top plate 2, and the setting manner mainly depends on the setting positions and the number of the image sensors 103 in the homing robot 10 to be calibrated. If the image sensor 103 is only arranged above the homing robot 10, the calibration marks are arranged on the lower surface of the calibration top plate 2; if the image sensor 103 is only arranged below the homing robot 10, the calibration mark is arranged on the upper surface of the calibration tray 1; if the image sensors 103 are installed above and below the self-guided robot 10, calibration marks are set on the upper surface of the calibration tray 1 and the lower surface of the calibration top plate 2. In addition, a distance needs to be provided between the homing robot 10 and the calibration marker, so that the image sensor 103 can acquire the calibration marker image, of course, the distance cannot be too large, otherwise, the calibration marker image acquired by the image sensor 103 is distorted, and the calibration test work is affected.

If the image sensors 103 are installed above and below the self-guided robot 10 to be calibrated, the calibration marks may include a first calibration mark 4 and a second calibration mark 5, where the first calibration mark 4 is installed on the upper surface of the calibration tray 1, the second calibration mark 5 is installed on the lower surface of the calibration top plate 2, and projections of a center point of the second calibration mark 5, a center point of a standard installation position of the upward image sensor 103 in the self-guided robot 10, and a center point of a standard installation position of the downward image sensor 103 in the self-guided robot 10 on the calibration tray 1 respectively coincide with a center point of the first calibration mark 4. The image sensor 103 facing upwards in the homing robot 10 is spaced from the second calibration mark 5, and the image sensor 103 facing downwards in the homing robot 10 is spaced from the first calibration mark 4.

As shown in fig. 4, the homing robot 10 is generally constructed of many parts and thus has a large weight, and some homing robots 10 may weigh 200 kg. It is difficult to directly place the homing robot 10 to the calibration tray 1 from the gap between the calibration tray 1 and the calibration top plate 2 in calibrating the image sensor 103 of the homing robot 10. At this time, in order to provide the work efficiency of the calibration test, the calibration top plate 2 and the calibration tray 1 may be configured to be detachably connected. In this way, when calibrating the image sensor 103 of the homing robot 10, the calibration top plate 2 may be taken away from the calibration tray 1 and placed on one side, then the homing robot may be placed on the calibration tray 1 through auxiliary equipment and the like, and then the calibration top plate 2 may be placed on the calibration tray 1 again to perform calibration test work.

It has been mentioned above that in order to provide the efficiency of the calibration test, the calibration top plate 2 is configured to be detachable from the calibration tray 1, so that the calibration top plate 2 can be configured to have a symmetrical structure with the center point of the second calibration mark 5 as the center of symmetry. Therefore, in the process of taking and placing the calibration top plate 2, the original position of the calibration top plate 2 does not need to be remembered, and the calibration test work can be finished just by reversing the left and the right.

Furthermore, a second calibration mark 5 can be arranged on the upper surface of the calibration top plate 2, a second calibration mark 5 is also arranged on the lower surface of the calibration top plate 2, and the projections of the central points of the two second calibration marks 5 on the calibration tray 1 are coincided with the central point of the first calibration mark 4. Therefore, in the process of taking and placing the calibration top plate 2, even if the calibration top plate 2 is placed upside down, the development of the calibration test work is still not influenced.

As shown in fig. 4, 5 and 6, the structure for realizing the detachable connection between the calibration tray 1 and the calibration top plate 2 may be a support 6. Which will be described in detail below. Two supporting parts 6 are vertically arranged on two sides of the upper surface of the calibration tray 1, each supporting part 6 comprises a first supporting part 61 and a second supporting part 62 which are integrally formed, the height of the first supporting part 61 is larger than that of the second supporting part 62, the bottom surface of the first supporting part 61 is fixedly connected with the calibration tray 1, the top surface of the first supporting part 61 is attached to the bottom surface of the second supporting part 62, and the bottom surface area of the second supporting part 62 is smaller than that of the first supporting part 61. Two ends of the calibration top plate 2 are provided with a fixing hole 21, the areas of the two fixing holes 21 are smaller than the area of the top surface of the first supporting part 61, and the two fixing holes 21 are respectively sleeved on the second supporting parts 62 of the two supporting parts 6. The structure enables the calibration top plate 2 to be detachably placed on the second supporting part 62 of the supporting part 6 through the fixing hole, and the structure is simple and the operation is convenient. At this time, the fixed connection between the bottom surface of the first supporting portion 61 and the calibration tray 1 may be welding or the like.

In addition, a first fixing plate 63 may be further disposed below the first supporting portion 61, a bottom surface of the first fixing plate 63 is fixedly connected to the calibration tray 1, a top surface of the first fixing plate 63 is attached to the bottom surface of the first supporting portion 61, and an area of the top surface of the first fixing plate 63 is larger than an area of the bottom surface of the first supporting portion 61. In this case, the bottom surface of the first fixing plate 63 and the calibration tray 1 may be fixedly connected by welding. Since the top surface area of the first fixing plate 63 is greater than the bottom surface area of the first supporting portion 61, increasing the first fixing plate 63 on the basis of the first supporting portion 61 can improve the stability of the supporting member 6.

Further, as shown in fig. 2, 6, and 8, the calibration fixture further includes a positioning pin 3, a plurality of first upper positioning holes 65 are formed through a region where the top surface of the first fixing plate 63 is not attached to the bottom surface of the first supporting portion 61, a plurality of first lower positioning holes 115 corresponding to the first upper positioning holes 65 one to one are formed on the calibration tray 1, the first upper positioning holes 65 corresponding to one are concentrically arranged with the first lower positioning holes 115, and the positioning pin 3 sequentially passes through the first upper positioning holes 65 and the first lower positioning holes 115 from top to bottom to connect the first fixing plate 63 with the calibration tray 1. At this moment, the first fixing plate 63 is connected with the calibration tray 1 through the positioning pin 3, and the connection mode is more flexible. The first upper positioning holes 65 may be arranged at equal intervals with the center of the top surface of the first fixing plate 63 as the center. The number of the first upper positioning holes 65 may be determined according to the size of the region where the top surface of the first fixing plate 63 is not attached to the bottom surface of the first supporting portion 61, and is generally four or six.

As shown in fig. 5 and 7, a first fixing block 64 is further disposed below the first fixing plate 63, a top surface of the first fixing block 64 is attached to a bottom surface of the first fixing plate 63, and an area of the top surface of the first fixing block 64 is smaller than an area of the bottom surface of the first fixing plate 63. The calibration tray 1 is further provided with two first fixed block grooves 7 which are in one-to-one correspondence with the two first fixed blocks 64, the two first fixed blocks 64 are respectively arranged in the two first fixed block grooves 7, and the first fixed blocks 64 are matched with the first fixed block grooves 7 in size. On the basis of the structure of the supporting piece 6, the first fixing block 64 is added, and the first fixing block 64 is placed in the first fixing block groove 7 matched with the outer size of the first fixing block, so that the stability of the supporting piece 6 can be further improved.

Optionally, as shown in fig. 9 and 12, a plurality of pillar assemblies 110 are arranged on the calibration tray 1, each pillar assembly 110 includes a first pillar 111 and a second pillar 112 that are integrally formed, a bottom surface of the first pillar 111 is fixedly connected (e.g., welded) to the calibration tray 1, a top surface of the first pillar 111 is attached to a bottom surface of the second pillar 112, and an area of the bottom surface of the second pillar 112 is smaller than an area of the top surface of the first pillar 111. A plurality of base hole 9 has been seted up from the bottom surface of guide robot 10, and the area in every base hole 9 all is less than the top surface area of first pillar 111, and the assigned position is: the positions of the base holes 9 correspond to the positions of the second support posts 112 one by one, and the plurality of base holes 9 on the bottom surface of the self-guiding robot 10 are sleeved on the second support posts 112 one by one. By the structure, a certain distance is formed between the downward image sensor 103 in the self-guiding robot 10 and the first calibration mark 4, so that the image sensor 103 can acquire the image of the first calibration mark 4. The number of the strut assemblies 110 may be four, five, six, eight, and the like, and the specific number of the strut assemblies 110 is determined according to the number of the base holes 9 formed in the bottom surface of the self-guiding robot 10 to be calibrated, wherein the number of the strut assemblies 110 may be less than or equal to the number of the base holes 9 of the self-guiding robot 10, but may not be more than the number of the base holes 9, on the premise of ensuring the bearing capacity. When the number of the strut assemblies 110 is larger than that of the base holes 9, the placement of the self-guiding robot 10 is uneven, and calibration test work is affected.

As shown in fig. 9, a second fixing plate 113 is further disposed below the first support column 111, a bottom surface of the second fixing plate 113 is fixedly connected (e.g., welded) to the calibration tray 1, a top surface of the second fixing plate 113 is attached to the bottom surface of the first support column 111, and an area of the top surface of the second fixing plate 113 is larger than an area of the bottom surface of the first support column 111. The area of the top surface of the second fixing plate 113 is larger than the area of the bottom surface of the first support column 111, and the stability of the support column assembly 110 can be improved by adding the second fixing plate 113 on the basis of the first support column 111.

Further, as shown in fig. 2, 9, 10, and 11, the calibration fixture further includes a positioning pin 3, a plurality of second upper positioning holes 66 are formed through a region where the top surface of the second fixing plate 113 is not attached to the bottom surface of the first support 111, a plurality of second lower positioning holes 116 corresponding to the second upper positioning holes 66 one to one are formed in the calibration tray 1, the second upper positioning holes 66 corresponding to one are concentrically arranged with the second lower positioning holes 116, and the positioning pin 3 sequentially passes through the second upper positioning holes 66 and the second lower positioning holes 116 from top to bottom to connect the second fixing plate 113 with the calibration tray 1. At this time, the second fixing plate 113 and the calibration tray 1 are connected by the positioning pin 3, and the connection mode is more flexible. The plurality of second upper positioning holes 66 may be arranged at equal intervals with the center of the top surface of the second fixing plate 113 as the center. The number of the second upper positioning holes 66 can be determined according to the size of the area where the top surface of the second fixing plate 113 is not attached to the bottom surface of the first pillar 111, and is generally four or six.

As shown in fig. 9, a second fixing block 114 is further disposed below the second fixing plate 113, a top surface of the second fixing block 114 is attached to a bottom surface of the second fixing plate 113, and an area of the top surface of the second fixing block 114 is smaller than an area of the bottom surface of the second fixing plate 113. The calibration tray 1 is further provided with a plurality of second fixed block grooves 8 corresponding to the plurality of second fixed blocks 114 one to one, the plurality of second fixed blocks 114 are respectively arranged in the plurality of second fixed block grooves 8, and the sizes of the second fixed blocks 114 and the second fixed block grooves 8 are matched. On the basis of the structure of the strut assembly 110, the second fixing block 114 is added, and the second fixing block 114 is placed in the second fixing block groove 8 matched with the outer dimension of the second fixing block, so that the stability of the strut assembly 110 can be further improved. Wherein the number of the second fixed block grooves 8 is matched with the number of the strut assemblies 110.

Optionally, the top of the second supporting portion 62 is chamfered, and this structure makes the calibration top plate 2 more convenient to be taken and placed.

Optionally, the top of the second support 112 is chamfered, which makes the homing robot 10 more convenient to handle.

The embodiment of the specification assists the self-guiding robot to complete the calibration test work of the image sensor through the calibration tool, and greatly improves the efficiency of the calibration test.

Based on the structure of the calibration tool, the following describes the calibration method in detail, as shown in fig. 13:

s200, placing the self-guiding robot 10 on the designated position of the calibration tray 1, so that the self-guiding robot 10 has a distance from the calibration marker, and the orthographic projection of the designated point of the self-guiding robot 10 on the horizontal plane coincides with the orthographic projection of the central point of the calibration marker on the horizontal plane, wherein the designated point is the standard installation position of the image sensor 103 on the self-guiding robot 10.

S202, an image is captured by the image sensor 103 mounted on the self-guiding robot 10.

In this specification, the homing robot 10 may be mounted with several image sensors 103, for example, an upward image sensor 103 is mounted on an upper surface of the homing robot 10, and a downward image sensor 103 is mounted on a lower surface of the homing robot 10. In calibrating the image sensor 103, the calibration method in the present embodiment can be applied to both the two image sensors 103 installed upward and downward of the homing robot 10. When the two image sensors 103 facing upward and downward are respectively installed in the middle of the upper surface and the middle of the lower surface of the homing robot 10, it is an optimal installation manner of the image sensors 103. Therefore, a designated point of the homing robot 10, that is, a standard mounting position of the image sensor 103 may be a central point of the homing robot 10. Of course, the designated point of the homing robot 10 (i.e., the standard mounting location of the image sensor 103) may also be other points on the homing robot 10. Therefore, for convenience of description, the present specification will be described by taking only the upward image sensor 103 mounted on the upper surface of the self-guided robot 10 as an example, and taking a specified point on the self-guided robot 10 as a center point of the self-guided robot 10 as an example.

If the homing robot 10 is placed at a designated position of the calibration tray 1 of the calibration tool, the image sensor 103 installed upward on the upper surface of the homing robot 10 may capture an image. Because the calibration tool used carries the calibration identifier, the orthographic projection of the central point of the self-guided robot 10 on the horizontal plane coincides with the orthographic projection of the central point of the calibration identifier on the horizontal plane, and the central point is the central point of the standard installation position of the image sensor 103 on the self-guided robot 10. Therefore, the calibration mark is located in the acquisition area of the image sensor 103, and the image acquired by the image sensor 103 may include a pattern of the calibration mark.

S204, determining the position of the calibration mark contained in the image according to the acquired image.

According to the image collected by the image sensor 103 installed on the self-guiding robot 10, the pattern of the calibration mark carried on the calibration tool can be determined in the collected image, so that the position of the calibration mark contained in the image can be determined according to the pattern of the calibration mark.

Specifically, first, the image may be subjected to image processing to identify a pattern included in the image, wherein the image processing includes at least one of graying, color inversion, filtering, edge detection, and the like.

If the collected image is a color image, the color image can be converted into a gray image by a weighting method, an averaging method, a maximum value method or the like, and if the collected image is a gray image, the gray processing of the image can be omitted. In order to facilitate the determination of the position of the pattern of the calibration marks in the image in the subsequent steps, the grayscale image may be color-reversed. The value range of the pixel value of each pixel point in the gray level image is [0,255 ]. Therefore, when the gray image is subjected to color inversion, for each pixel point, the difference value between the maximum value of the pixel value and the pixel value of the point can be used as the pixel value of the point, and the gray image after color inversion is determined according to the pixel value of each pixel point. Filtering the image to remove a part of noise in the image, for example, using gaussian filtering to remove noise, taking a weighted average of a pixel value of each pixel point in the image and a pixel value in the neighborhood of the pixel point as a pixel value of the pixel point, and determining the image after gaussian filtering according to the pixel value of each point. And carrying out edge detection on the image, determining the amplitude and the direction of the gradient of the image, carrying out non-maximum value suppression on the gradient amplitude, and detecting the edge of the pattern in the image according to a preset threshold value to obtain the pattern contained in the image. Part of the content in the image processing of the image can be realized by an edge detection algorithm such as a Canny operator and a sobel operator.

Next, among the patterns included in the image, a pattern of the calibration mark is determined.

Because the calibration mark can comprise a two-dimensional code, a line segment, a polygon and the like, for convenience of description, a cross line formed by two crossed line segments can be used as the calibration mark, and the central point of the calibration mark is the intersection point of the two crossed line segments in the cross line. The standard pattern (i.e., the cross line) of the calibration mark may be obtained in advance, and for each pattern included in the image, it is determined whether the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold. If yes, the pattern is used as the pattern of the calibration mark. When judging whether the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold, judging whether the difference value between the length of the pattern outline and the length of the standard pattern outline is smaller than a preset first threshold; and/or judging whether the difference value of the area of the pattern and the area of the standard pattern is smaller than a preset second threshold value or not; and if so, judging that the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold.

And finally, determining the position of the calibration mark contained in the image according to the pattern of the calibration mark.

The pattern of the calibration mark contained in the image is used as a designated pattern, and the pattern contour of the designated pattern in the image is composed of a plurality of pixel points. Therefore, when the designated point (i.e., the center point of the homing robot 10) is used as the origin of coordinates, the coordinate information of each pixel point in the pattern contour of the designated pattern can be determined. According to the coordinate information of each pixel point in the pattern contour of the designated pattern, the mean vector and the covariance matrix of each pixel point can be determined. And performing characteristic decomposition on the covariance matrix, determining the characteristic matrix according to the sequence of the characteristic values from large to small, and determining the rotation angle of the specified pattern according to the characteristic matrix. When a two-dimensional coordinate is established by taking the designated point as the origin of coordinates, according to the coordinate information of each pixel point in the pattern contour of the designated pattern, the average value of the coordinate information of each pixel point on the abscissa and the average value on the ordinate can be determined and used as the coordinate information of the center point of the designated pattern. According to the coordinate information of the central point of the designated pattern, the position of the calibration mark in the image can be determined. Of course, the above mentioned is the designated point as the coordinate origin, and the coordinate origin in this specification may be other points, which are not described herein again.

The determination of the coordinate information of the center point of the designated pattern and the rotation angle of the designated pattern can be realized by Principal Component Analysis (PCA).

S206, calibrating the installation error of the image sensor (103) according to the position of the calibration mark in the image.

After the center point coordinate information of the designated pattern and the rotation angle of the designated pattern are determined, the amount of shift of the image sensor 103 may be determined according to the position information of the designated pattern. Specifically, taking the center point of the designated pattern as an example, since the origin of coordinates is the designated point (i.e., the center point of the homing robot 10), the amount of shift of the image sensor 103 can be determined by coordinate conversion based on the pixel ratio parameter and the center point coordinate information of the designated pattern. The actual length represented by a single pixel in the image can be represented by a pixel ratio parameter. Therefore, the product of the pixel ratio parameter and the abscissa information of the center point can be determined as the amount of shift of the image sensor 103 on the abscissa, and the product of the pixel ratio parameter and the ordinate information of the center point can be determined as the amount of shift of the image sensor 103 on the ordinate.

And calibrating the installation error of the image sensor 103 according to the offset and the rotation angle of the image sensor 103. Since there is an installation error between the image sensor 103 and the self-guided robot 10, after the installation error of the image sensor 103 is calibrated, the present specification may also compensate the installation error, and control the self-guided robot 10 according to the compensated installation error. For example, with respect to the downward image sensor 103 installed on the lower surface of the self-guiding robot 10, according to the compensated installation error, the self-guiding robot 10 can reach the destination in the navigation path according to the navigation path while traveling without problems such as deviation from the navigation path or missing of the two-dimensional code mark stuck on the ground. For example, the image sensor 103 mounted on the upper surface of the homing robot 10 facing upward may be configured to align the center of the homing robot 10 with the center of the inventory holder 31 and convey the inventory holder 31 when the homing robot 10 conveys the inventory holder 31 according to the compensated mounting error, without causing a conveying accident such as the inclination of the inventory holder 31.

Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.

The invention comprises A1 and a calibration tool, which is characterized by comprising:

a calibration tray (1) for carrying a self-guided robot (10);

a calibration top plate (2) arranged on the calibration tray (1);

calibration marks are arranged on the upper surface of the calibration tray (1) and/or the lower surface of the calibration top plate (2);

when the self-guiding robot (10) is placed at a designated position of the calibration tray (1), the self-guiding robot (10) has a distance from the calibration marker, and the orthographic projection of a designated point of the self-guiding robot (10) on a horizontal plane coincides with the orthographic projection of the central point of the calibration marker on the horizontal plane, wherein the designated point is a standard installation position of the image sensor (103) on the self-guiding robot (10).

A2, the calibration tool as claimed in claim A1, wherein the calibration marks include a first calibration mark (4) and a second calibration mark (5), wherein the first calibration mark (4) is disposed on the upper surface of the calibration tray (1), and the second calibration mark (5) is disposed on the lower surface of the calibration top plate (2), wherein the projection of the center point of the second calibration mark (5), the projection of the center point of the standard mounting position of the upward image sensor (103) in the self-guided robot (10), and the projection of the center point of the standard mounting position of the downward image sensor (103) in the self-guided robot (10) on the calibration tray (1) are coincident with the center point of the first calibration mark (4);

the upward image sensor (103) in the self-guiding robot (10) is spaced from the second calibration mark (5), and the downward image sensor (103) in the self-guiding robot (10) is spaced from the first calibration mark (4).

A3, the calibrating tool as claimed in claim A2, characterized in that the calibrating top plate (2) is detachably connected with the calibrating tray (1).

A4, the calibrating tool according to claim A3, characterized in that the calibrating top plate (2) is symmetrical about the center point of the second calibrating mark (5).

A5, the calibration tool set forth in claim A3 or A4 is characterized in that a second calibration mark (5) is arranged on the upper surface of the calibration top plate (2), a second calibration mark (5) is also arranged on the lower surface of the calibration top plate (2), and the projections of the central points of the two second calibration marks (5) on the calibration tray (1) are coincident with the central point of the first calibration mark (4).

A6, the calibrating tool set forth in claim A1 or A3, characterized in that two supporting members (6) are vertically arranged on two sides of the upper surface of the calibrating tray (1), each supporting member (6) comprises a first supporting portion (61) and a second supporting portion (62) which are integrally formed, the height of the first supporting portion (61) is greater than that of the second supporting portion (62), wherein the bottom surface of the first supporting portion (61) is fixedly connected with the calibrating tray (1), the top surface of the first supporting portion (61) is attached to the bottom surface of the second supporting portion (62), and the area of the bottom surface of the second supporting portion (62) is smaller than that of the top surface of the first supporting portion (61);

two ends of the calibration top plate (2) are provided with fixing holes (21), the area of each fixing hole (21) is smaller than the area of the top surface of the corresponding first supporting part (61), and the two fixing holes (21) are respectively sleeved on the corresponding second supporting parts (62) of the two supporting parts (6).

A7, the calibrating tool according to claim A6, wherein a first fixing plate (63) is further arranged below the first supporting portion (61), the bottom surface of the first fixing plate (63) is fixedly connected with the calibrating tray (1), the top surface of the first fixing plate (63) is attached to the bottom surface of the first supporting portion (61), and the area of the top surface of the first fixing plate (63) is larger than that of the bottom surface of the first supporting portion (61).

A8, the calibrating tool according to claim A7, further comprising a positioning pin (3), wherein a plurality of first upper positioning holes (65) are formed through a region where the top surface of the first fixing plate (63) is not attached to the bottom surface of the first supporting portion (61), a plurality of first lower positioning holes (115) corresponding to the first upper positioning holes (65) in a one-to-one manner are formed in the calibrating tray (1), the corresponding first upper positioning holes (65) and the corresponding first lower positioning holes (115) are concentrically arranged, and the positioning pin (3) sequentially penetrates through the first upper positioning holes (65) and the first lower positioning holes (115) from top to bottom to connect the first fixing plate (63) and the calibrating tray (1).

A9, the calibrating tool set forth in claim A7 or A8, wherein a first fixing block (64) is further arranged below the first fixing plate (63), the top surface of the first fixing block (64) is attached to the bottom surface of the first fixing plate (63), and the area of the top surface of the first fixing block (64) is smaller than that of the bottom surface of the first fixing plate (63);

the calibration tray (1) is further provided with two first fixed block grooves (7) which are in one-to-one correspondence with the two first fixed blocks (64), the two first fixed blocks (64) are respectively arranged in the two first fixed block grooves (7), and the first fixed blocks (64) are matched with the first fixed block grooves (7) in size.

A10, the calibrating tool set forth in claim A1, wherein the calibrating tray (1) is provided with a plurality of support column assemblies (110), each support column assembly (110) comprises a first support column (111) and a second support column (112) which are integrally formed, the bottom surface of the first support column (111) is fixedly connected with the calibrating tray (1), the top surface of the first support column (111) is attached to the bottom surface of the second support column (112), and the area of the bottom surface of the second support column (112) is smaller than that of the top surface of the first support column (111);

a plurality of base hole (9) have been seted up from the bottom surface of guide robot (10), every the area in base hole (9) all is less than the top surface area of first pillar (111), the assigned position is: the positions of the base holes (9) correspond to the positions of the second supporting columns (112) one by one, and the plurality of base holes (9) in the bottom surface of the self-guiding robot (10) are sleeved on the second supporting columns (112) one by one.

A11, the calibrating tool according to claim A10, wherein a second fixing plate (113) is further arranged below the first supporting column (111), the bottom surface of the second fixing plate (113) is fixedly connected with the calibrating tray (1), the top surface of the second fixing plate (113) is attached to the bottom surface of the first supporting column (111), and the area of the top surface of the second fixing plate (113) is larger than that of the bottom surface of the first supporting column (111).

A12, the calibrating tool according to claim A11, further comprising a positioning pin (3), wherein a plurality of second upper positioning holes (66) are formed through a region, which is not attached to the bottom surface of the first supporting column (111), of the top surface of the second fixing plate (113), a plurality of second lower positioning holes (116) corresponding to the second upper positioning holes (66) one by one are formed in the calibrating tray (1), the second upper positioning holes (66) corresponding to one by one are concentrically arranged with the second lower positioning holes (116), and the positioning pin (3) sequentially penetrates through the second upper positioning holes (66) and the second lower positioning holes (116) from top to bottom to connect the second fixing plate (113) with the calibrating tray (1).

A13, the calibrating tool set forth in claim A11 or A12, wherein a second fixing block (114) is further arranged below the second fixing plate (113), the top surface of the second fixing block (114) is attached to the bottom surface of the second fixing plate (113), and the area of the top surface of the second fixing block (114) is smaller than that of the bottom surface of the second fixing plate (113);

the calibration tray (1) is further provided with a plurality of second fixed block grooves (8) which correspond to the second fixed blocks (114) one to one, the second fixed blocks (114) are arranged in the second fixed block grooves (8) respectively, and the second fixed blocks (114) are matched with the second fixed block grooves (8) in size.

A14, the calibrating tool for the tool set forth in claim A6, wherein the top of the second supporting part (62) is chamfered.

A15, the calibrating tool for the machine tool of claim A10, wherein the top of the second pillar (112) is chamfered.

A16, a calibration method, wherein the calibration tool is used in any one of claims A1-A15, the method comprises:

placing a self-guided robot (10) on a designated position of a calibration tray (1) so that the self-guided robot (10) has a distance from a calibration mark, and the orthographic projection of a designated point of the self-guided robot (10) on a horizontal plane coincides with the orthographic projection of the central point of the calibration mark on the horizontal plane, wherein the designated point is a standard installation position of an image sensor (103) on the self-guided robot (10);

acquiring an image by an image sensor (103) mounted on the self-guided robot (10);

and calibrating the installation error of the image sensor (103) according to the position of the calibration mark in the image.

A17, the method of claim a16, wherein determining, from the acquired image, a position in the image of the calibration marker contained in the image, specifically comprises:

performing image processing on the image to identify a pattern contained in the image;

determining a pattern of the calibration marks in a pattern contained in the image;

determining the position of the calibration mark contained in the image according to the pattern of the calibration mark;

wherein the image processing at least comprises at least one of graying, color inversion, filtering and edge detection.

A18, the method of claim a17, wherein determining the pattern of the calibration marks in the pattern contained in the image, specifically comprises:

acquiring a standard pattern of the calibration mark;

judging whether the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold or not aiming at each pattern contained in the image;

if so, taking the pattern as the pattern of the calibration mark.

A19 the method of claim A18, wherein the determining whether the similarity between the pattern and the standard pattern is less than a preset similarity threshold comprises:

judging whether the difference value between the length of the pattern contour and the length of the standard pattern contour is smaller than a preset first threshold value or not; and/or the presence of a gas in the gas,

judging whether the difference value between the area of the pattern and the area of the standard pattern is smaller than a preset second threshold value or not;

and if so, judging that the similarity between the pattern and the standard pattern is smaller than a preset similarity threshold.

A20, the method of claim a16, wherein calibrating the installation error of the image sensor (103) according to the position of the calibration mark in the image comprises:

taking the pattern of the calibration mark as a designated pattern;

determining the position coordinates of the central point of the specified pattern in the image and the rotation angle of the specified pattern by taking the specified point as a coordinate origin;

determining an offset of the image sensor (103) from the position coordinates;

and calibrating the installation error of the image sensor (103) according to the offset and the rotation angle.

A21, the method of claim a16, wherein after calibrating the image sensor (103), the method further comprises:

compensating the installation error of the image sensor (103) according to the calibrated image sensor (103);

and controlling the self-guiding robot (10) according to the compensated installation error.

Claims

1. Demarcate frock, its characterized in that includes:

a calibration tray (1) for carrying a self-guided robot (10);

a calibration top plate (2) arranged on the calibration tray (1);

2. The calibration tool according to claim 1, wherein the calibration marks comprise a first calibration mark (4) and a second calibration mark (5), wherein the first calibration mark (4) is disposed on the upper surface of the calibration tray (1), and the second calibration mark (5) is disposed on the lower surface of the calibration top plate (2), wherein projections of a center point of the second calibration mark (5), a center point of a standard mounting position of an upward image sensor (103) in the self-guided robot (10), and a center point of a standard mounting position of a downward image sensor (103) in the self-guided robot (10) on the calibration tray (1) respectively coincide with a center point of the first calibration mark (4);

3. Calibration fixture according to claim 2, characterized in that the calibration top plate (2) is detachably connected to the calibration tray (1).

4. The calibrating tool according to claim 1 or 3, characterized in that two supporting pieces (6) are vertically arranged on two sides of the upper surface of the calibrating tray (1), each supporting piece (6) comprises a first supporting portion (61) and a second supporting portion (62) which are integrally formed, the height of the first supporting portion (61) is larger than that of the second supporting portion (62), the bottom surface of the first supporting portion (61) is fixedly connected with the calibrating tray (1), the top surface of the first supporting portion (61) is attached to the bottom surface of the second supporting portion (62), and the area of the bottom surface of the second supporting portion (62) is smaller than that of the top surface of the first supporting portion (61);

5. The calibrating tool according to claim 4, wherein a first fixing plate (63) is further arranged below the first supporting portion (61), the bottom surface of the first fixing plate (63) is fixedly connected with the calibrating tray (1), the top surface of the first fixing plate (63) is attached to the bottom surface of the first supporting portion (61), and the area of the top surface of the first fixing plate (63) is larger than that of the bottom surface of the first supporting portion (61).

6. The calibration tool according to claim 5, further comprising a positioning pin (3), wherein a plurality of first upper positioning holes (65) are formed through a region, where the top surface of the first fixing plate (63) is not attached to the bottom surface of the first supporting portion (61), a plurality of first lower positioning holes (115) corresponding to the first upper positioning holes (65) in a one-to-one manner are formed in the calibration tray (1), the first upper positioning holes (65) corresponding to one-to-one manner are concentrically arranged with the first lower positioning holes (115), and the positioning pin (3) sequentially penetrates through the first upper positioning holes (65) and the first lower positioning holes (115) from top to bottom to connect the first fixing plate (63) with the calibration tray (1).

7. The calibrating tool according to claim 1, wherein a plurality of support column assemblies (110) are arranged on the calibrating tray (1), each support column assembly (110) comprises a first support column (111) and a second support column (112) which are integrally formed, the bottom surface of the first support column (111) is fixedly connected with the calibrating tray (1), the top surface of the first support column (111) is attached to the bottom surface of the second support column (112), and the area of the bottom surface of the second support column (112) is smaller than that of the top surface of the first support column (111);

8. The calibrating tool according to claim 7, wherein a second fixing plate (113) is further arranged below the first supporting column (111), the bottom surface of the second fixing plate (113) is fixedly connected with the calibrating tray (1), the top surface of the second fixing plate (113) is attached to the bottom surface of the first supporting column (111), and the area of the top surface of the second fixing plate (113) is larger than that of the bottom surface of the first supporting column (111).

9. The calibrating tool according to claim 8, further comprising a positioning pin (3), wherein a plurality of second upper positioning holes (66) are formed through a region, which is not attached to the bottom surface of the first support column (111), of the top surface of the second fixing plate (113), a plurality of second lower positioning holes (116) corresponding to the second upper positioning holes (66) in a one-to-one manner are formed in the calibrating tray (1), the one-to-one corresponding second upper positioning holes (66) and the second lower positioning holes (116) are concentrically arranged, and the positioning pin (3) sequentially penetrates through the second upper positioning holes (66) and the second lower positioning holes (116) from top to bottom to connect the second fixing plate (113) and the calibrating tray (1).

10. The calibration method adopts the calibration tool of any one of claims 1 to 9, and is characterized by comprising the following steps: