CN214540017U

CN214540017U - TOF module calibration equipment

Info

Publication number: CN214540017U
Application number: CN202021864407.6U
Authority: CN
Inventors: 韩华清; 陈清清; 朱亮
Original assignee: Yuyao Sunny Optical Intelligence Technology Co Ltd
Current assignee: Yuyao Sunny Optical Intelligence Technology Co Ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2021-10-29
Anticipated expiration: 2030-08-31

Abstract

A TOF module calibration device is used for calibrating a TOF module. This TOF module calibration equipment includes: a calibration frame; a motion mechanism, wherein the motion mechanism is mounted to the calibration gantry and the motion mechanism is configured to movably secure the TOF module to move the TOF module to various calibration positions; the lamp panel assembly is arranged on the calibration rack, and is used for calibrating internal parameters of the TOF module when the TOF module is moved to a calibration position corresponding to the lamp panel assembly by the motion mechanism; and the small light source assembly is arranged on the calibration rack, and is used for testing the visual sensitivity of the TOF module when the TOF module is moved to the calibration position corresponding to the small light source assembly by the motion mechanism.

Description

TOF module calibration equipment

Technical Field

The utility model relates to a technical field is markd to the module, especially relates to a TOF module calibration equipment.

Background

With the rapid development of science and technology, people have higher and higher imaging requirements on electronic products with imaging functions. Especially, TOF module of the present development of fire heat etc. pursue the product requirement that little volume compromise high imaging quality more, this has all had strict requirement to the processing equipment of product undoubtedly. These TOF modules are required to calibrate various parameters to achieve the best usage.

However, at present, the conventional TOF module calibration usually requires two to four different calibration positions, each calibration position is independently separated into a linear body, and an operator is required to be equipped for each calibration position, which is time-consuming and labor-consuming. Particularly, since the calibration times of the calibration positions are different, the yield of the whole line body is limited by the bottleneck position, and therefore the calibration efficiency of the whole line body is low. In addition, the conventional TOF module calibration equipment is generally operated manually in a single station, and each type of equipment is generally only suitable for one or two modules, so that the high cost and low efficiency of TOF module calibration are further increased, and the requirements of industrial production are difficult to meet.

SUMMERY OF THE UTILITY MODEL

An advantage of the utility model is that a TOF module calibration equipment is provided, its demarcation efficiency that can improve the TOF module satisfies industrial production's demand.

Another advantage of the utility model is that a TOF module calibration equipment is provided, wherein the utility model discloses an in an embodiment, TOF module calibration equipment can become the single-point equipment to traditional TOF module calibration line body, helps unifying current calibration equipment standard.

Another advantage of the utility model is that a TOF module calibration equipment is provided, wherein the utility model discloses an in the embodiment, TOF module calibration equipment can accomplish each item of TOF module automatically and mark the task, has improved the demarcation efficiency of TOF module widely.

Another advantage of the utility model is that a TOF module calibration equipment is provided, wherein the utility model discloses an in the embodiment, TOF module calibration equipment can be integrated to a calibration post with a plurality of calibration posts, has saved the space that other post personnel and equipment occupy, helps reducing the calibration cost.

Another advantage of the utility model is that a TOF module calibration equipment is provided, wherein the utility model discloses an in the embodiment, TOF module calibration equipment is because of not needing many posts to rotate and each item parameter of whole module is markd to clamping completion, helps making control such as module machine difference and personnel's error at minimum scope, and then improves and mark the quality.

Another advantage of the utility model is that a TOF module calibration equipment is provided, wherein the utility model discloses an in the embodiment, TOF module calibration equipment can be suitable for the demarcation of various TOF modules, helps extending it and is suitable for the scope, facilitate promotion and popularization.

Another advantage of the present invention is to provide a TOF module calibration apparatus, wherein, in order to achieve the above object, the present invention does not need to adopt expensive materials or complex structures. Therefore, the utility model discloses succeed in and provide a solution effectively, not only provide simple TOF module calibration equipment, still increased simultaneously TOF module calibration equipment's practicality and reliability.

In order to realize above-mentioned at least advantage or other advantages and purpose, the utility model provides a TOF module calibration equipment for demarcate the TOF module, wherein TOF module calibration equipment includes:

a calibration frame;

a motion mechanism, wherein the motion mechanism is mounted to the calibration gantry and the motion mechanism is configured to movably secure the TOF module to move the TOF module to various calibration positions;

the lamp panel assembly is arranged on the calibration rack, and is used for calibrating internal parameters of the TOF module when the TOF module is moved to a calibration position corresponding to the lamp panel assembly by the motion mechanism; and

and the small light source assembly is arranged on the calibration rack and used for testing the visual sensitivity of the TOF module when the motion mechanism moves the TOF module to the calibration position corresponding to the small light source assembly.

According to the utility model discloses an embodiment, lamp plate assembly includes a lamp plate support and a lamp plate, wherein the lamp plate passes through the lamp plate support is installed with unsettled in mark the frame, and the lamp plate is located motion's top.

According to the utility model discloses an embodiment, the lamp plate by detachably install in the lamp plate support, and the height of lamp plate can be adjusted from top to bottom.

According to an embodiment of the present invention, the motion mechanism includes an X-axis translation mechanism, a Y-axis translation mechanism and one or more tools, wherein the tool passes through the X-axis translation mechanism and the Y-axis translation mechanism is translatably installed in the calibration frame, and the tool is used for fixedly installing this TOF module, wherein the X-axis translation mechanism is used for moving along the X-axis direction the tool, and the Y-axis translation mechanism is used for moving along the Y-axis direction the tool.

According to the utility model discloses an embodiment, the motion further includes a linear electric motor, wherein linear electric motor be set up drivably in the frock, be used for the drive the frock is closed up each other or is separated.

According to the utility model discloses an embodiment, little light source subassembly includes an at least infrared light source, wherein works as the motion will this TOF module move to with during the demarcation position that infrared light source corresponds, infrared light source is used for sending the infrared light to the visual sensitivity of testing this TOF module.

According to the utility model discloses an embodiment, little light source subassembly further includes an elevating system, wherein elevating system will infrared light source install with liftable in mark the frame, be used for reciprocating infrared light source, with the adjustment infrared light source's height makes infrared light source is located the dead ahead of this TOF module correspondingly.

According to an embodiment of the present invention, the motion mechanism further includes a Z-axis steering mechanism, wherein the Z-axis steering mechanism is used for rotating the tool to switch the TOF module between upward and forward.

According to the utility model discloses an embodiment, TOF module calibration equipment, further include a control system, wherein control system controllable connect in motion mechanism the lamp plate subassembly and little light source subassembly for control with automaticly the motion mechanism the lamp plate subassembly and the operation of little light source subassembly makes TOF module calibration equipment can accomplish the demarcation of the internal parameter of this TOF module and the test of visual sensitivity automaticly.

According to the utility model discloses an embodiment, TOF module calibration equipment, further include a target subassembly, wherein the target subassembly set up correspondingly in mark the frame, and work as motion will this TOF module move to with the calibration position that the target subassembly corresponds, the target subassembly is used for testing the correctness of each calibration parameter of this TOF module.

According to the utility model discloses an embodiment, the target subassembly is a target case, wherein the target case is independently set up in the place ahead of demarcation frame, and target in the target case with motion mechanism the multirange can be adjusted between the frock.

According to the utility model discloses an embodiment, TOF module calibration equipment, further include one and go up the unloading subassembly, wherein go up the unloading subassembly set up correspondingly in mark the frame, be used for automatically doing motion mechanism go up the unloading in the frock.

According to the utility model discloses an embodiment, go up the unloading subassembly and be an automatic manipulator, wherein automatic manipulator be set up in the rear of demarcation frame for at last unloading position will be markd the TOF module follow lift off on the frock, and will not mark the TOF module install extremely the frock.

Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.

These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the appended claims.

Drawings

Fig. 1 is a schematic perspective view of a TOF module calibration apparatus according to a first embodiment of the present invention.

Fig. 2 shows a schematic structural diagram of a lamp panel assembly in the TOF module calibration equipment according to the present invention.

Fig. 3 shows a schematic structural diagram of a motion component in the TOF module calibration apparatus according to the first embodiment of the present invention.

Fig. 4 shows a schematic structural diagram of a small light source assembly in the TOF module calibration apparatus according to the first embodiment of the present invention.

Fig. 5 shows a schematic perspective view of a TOF module calibration apparatus according to a second embodiment of the present invention.

Fig. 6 shows a schematic perspective view of a TOF module calibration apparatus according to a third embodiment of the present invention.

Detailed Description

The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents and other technical solutions without departing from the spirit and scope of the invention.

It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, as the terms are used in the description to indicate that the referenced device or element must have the specified orientation, be constructed and operated in the specified orientation, and not for the purposes of limitation.

In the present application, the terms "a" and "an" in the claims and the description should be understood as meaning "one or more", that is, one element or a plurality of elements may be included in one embodiment or a plurality of elements may be included in another embodiment. The terms "a" and "an" and "the" and similar referents are to be construed to mean that the elements are limited to only one element or group, unless otherwise indicated in the disclosure.

In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Referring to fig. 1-4 of the drawings, a TOF module calibration apparatus in accordance with a first embodiment of the invention is illustrated for calibrating one or more TOF modules. Specifically, as shown in fig. 1 and fig. 2, the TOF module calibration apparatus 1 may include a calibration frame 10, a motion mechanism 20, a lamp panel assembly 30, and a small light source assembly 40. The motion mechanism 20 is mounted to the calibration gantry 10, and the motion mechanism 20 is used to movably secure the TOF module to move the TOF module to various calibration positions. The lamp panel assembly 30 is installed in the calibration rack 10, and when the motion mechanism 20 moves the TOF module to a calibration position corresponding to the lamp panel assembly 30, the lamp panel assembly 30 is used for calibrating internal parameters of the TOF module. The small light source assembly 40 is correspondingly mounted to the calibration frame 10, and when the motion mechanism 20 moves the TOF module to the calibration position corresponding to the small light source assembly 40, the small light source assembly 40 is used for testing the visual sensitivity of the TOF module.

It should be noted that, because the lamp panel assembly 30 and the small light source assembly 40 of the TOF module calibration apparatus 1 are integrally mounted on the calibration frame 10, the TOF module can complete the calibration of internal parameters and the test of visual sensitivity at the same station, and therefore the TOF module calibration apparatus 1 does not need to be switched before a plurality of stations, and further does not need to be subjected to multiple loading and unloading operations, which is beneficial to improving the calibration efficiency of the TOF module and meeting the requirements of industrial production. In addition, TOF module calibration equipment 1 can also become traditional TOF module calibration line body single-point equipment, helps unifying current calibration equipment standard.

More specifically, in the above first embodiment of the present invention, as shown in fig. 2, the lamp panel assembly 30 of the TOF module calibration apparatus 1 may include a lamp panel support 31 and a lamp panel 32, wherein the lamp panel 32 is mounted in the calibration rack 10 through the lamp panel support 31 in a suspended manner, and the lamp panel 32 is located above the moving mechanism 20. In this way, when the motion mechanism 20 moves the TOF module to a certain calibration position below the lamp panel 32, the calibration of the internal parameters of the TOF module is completed by photographing and orienting the lamp panel 32.

Preferably, the lamp panel 32 is detachably installed in the lamp panel support 31, so as to replace the lamp panel 32 differently according to the requirements of different TOF modules, and the TOF module calibration equipment 1 can adapt to the calibration requirements of different TOF modules.

More preferably, the lamp panel 32 is installed on the lamp panel support 31 with adjustable height, and the height of the lamp panel 32 is adjusted up and down, so that the distance between the lamp panel 32 and the TOF module is adjusted as required, and the TOF module with different detection distances is calibrated.

Illustratively, the lamp panel 32 may include an aluminum plate and one or more sets of lamps (not shown), wherein each set of lamps is embedded in the aluminum plate. In particular, the lamp panel 32 may further include a light-transmitting layer, where the light-transmitting layer is attached to the surface of the aluminum plate to cover each group of the lamps, so that the lamp panel 32 can be used as a target within a range allowed by the field angle of the TOF module. For example, the light-transmitting layer may be, but is not limited to being, implemented as a white paper.

It should be noted that, in the above first embodiment of the present invention, as shown in fig. 3, the motion mechanism 20 of the TOF module calibration apparatus 1 may include an X-axis translation mechanism 21, a Y-axis translation mechanism 22 and one or more tools 23, wherein the tools 23 are translatably mounted on the calibration frame 10 through the X-axis translation mechanism 21 and the Y-axis translation mechanism 22, and each tool 23 is used for fixedly mounting one TOF module; the X-axis translation mechanism 21 is used for moving the tool 23 along the X-axis direction so as to adjust the position of the TOF module in the X-axis direction; and the Y-axis translation mechanism 22 is configured to move the tool 23 along the Y-axis direction to adjust the position of the TOF module in the Y-axis direction, so as to move the TOF module to a calibration position corresponding to the lamp panel 32, and calibrate internal parameters of the TOF module through the lamp panel 32. It is understood that the X-axis translation mechanism 21 and the Y-axis translation mechanism 22 can be implemented as, but not limited to, a lead screw.

Preferably, as shown in fig. 3, the moving mechanism 20 may further include a linear motor 24, where the linear motor 24 is drivably disposed on the tooling 23 for driving the tooling 23 to move together or apart, so as to meet the calibration requirements of different TOF modules.

For example, for a TOF module that does not need to acquire data at the central position of the lamp panel 32, the three fixtures 23 may be separated by the linear motor 24, so that the TOF modules respectively mounted on the fixtures 23 acquire data of the lamp panel 32 synchronously; for the TOF module which needs to acquire data at the central position of the lamp panel 32, the three tools 23 can be gathered together by the linear motor 24, and then the TOF module is aligned to the central position of the lamp panel 32 to acquire the data of the lamp panel 32 through the adjustment of the X-axis translation mechanism 21 and the Y-axis translation mechanism 22. Of course, in other examples of the present invention, the motion mechanism 20 of the TOF module calibration apparatus 1 may also not include the linear motor 24, and the TOF module is sequentially aligned to the central position of the lamp panel 32 only through the adjustment of the X-axis translation mechanism 21 and the Y-axis translation mechanism 22, and only the moving stroke of the X-axis translation mechanism 21 and/or the Y-axis translation mechanism 22 needs to be increased.

It should be noted that after the internal parameters of the TOF module are calibrated by the lamp panel 32, a small light source test is performed on the TOF module to test the visual sensitivity of the TOF module, and the TOF module generally emits infrared light and receives reflected infrared light to achieve a corresponding detection effect. Therefore, as shown in fig. 4, the TOF module calibration apparatus 1 of the small light source assembly 40 of the present invention may include at least one infrared light source 41, wherein when the motion mechanism 20 will the TOF module moves to the calibration position corresponding to the infrared light source 41, the infrared light source 41 is used for emitting infrared light to test the visual sensitivity of the TOF module.

Preferably, the infrared light source 41 of the small light source assembly 40 is located in front of the moving mechanism 20, so as to fully utilize the space of the calibration frame 10 and avoid the small light source assembly 40 from structurally interfering with the lamp panel assembly 30. Correspondingly, since the small light source assembly 40 and the lamp panel assembly 30 are respectively located in front of and above the movement mechanism 20, when the TOF module is calibrated for internal parameters, the TOF module needs to be upward to shoot the lamp panel 32 of the lamp panel assembly 30; when the TOF module is tested for visual sensitivity, the TOF module needs to be forward to shoot the infrared light source 41 of the small light source assembly 40. Therefore, as shown in fig. 3 and 4, the TOF module calibration apparatus 1 of the present invention needs to further include a Z-axis steering mechanism 25 in the motion mechanism 20, wherein the Z-axis steering mechanism 25 is used to rotate the tool 23, so that the TOF module is switched between upward and forward, thereby facilitating the calibration of internal parameters and the test of visual sensitivity at the same station.

Illustratively, after the TOF module calibration apparatus 1 performs internal parameter calibration on the TOF module, the Z-axis steering mechanism 25 rotates the tool 23 forward by 90 degrees, so that the TOF module is turned from an upward direction to a forward direction, so as to perform a subsequent test of visual sensitivity on the TOF module by the infrared light source 41.

More preferably, as shown in fig. 4, the small light source assembly 40 further includes a lifting mechanism 42, wherein the lifting mechanism 42 is configured to liftably mount the infrared light source 41 on the calibration frame 10, and is configured to move the infrared light source 41 up and down to adjust the height of the infrared light source 41, so that the infrared light source 41 is correspondingly located right in front of the TOF module to test the visual sensitivity of the TOF module.

It should be noted that, since the lifting mechanism 42 can lift the infrared light source 41 to adjust the height of the infrared light source 41, when the TOF module needs to be tested for visual sensitivity, the lifting mechanism 42 lifts the infrared light source 41 to a proper height, so that the infrared light source 41 is located right in front of the TOF module, thereby testing the visual sensitivity of the TOF module; when the TOF module does not need to be tested for visual sensitivity (for example, the TOF module is calibrated for internal parameters), the lifting mechanism 42 lowers the infrared light source 41 to make the red light source 41 fall down, so as to effectively prevent the infrared light source 41 from interfering with calibration of internal parameters of the TOF module or calibration or testing of other parameters.

According to the above embodiment of the present invention, as shown in fig. 1 and fig. 2, the TOF module calibration apparatus 1 may further include a control system 50, wherein the control system 50 is controllably connected to the motion mechanism 20, the lamp panel assembly 30 and the small light source assembly 40, for automatically controlling the motion mechanism 20, the lamp panel assembly 30 and the small light source assembly 40, so that the TOF module calibration apparatus 1 can automatically complete the calibration of the internal parameters of the TOF module and the test of the visual sensitivity.

Illustratively, after three TOF modules are mounted on three tools 23 of the moving mechanism 20 at feeding and blanking positions, the control system 50 controls the linear motor 24 of the moving mechanism 20 to operate to close the three tools 23, so that the three TOF modules are closed together; then, the control system 50 controls the X-axis translation mechanism 21 and the Y-axis translation mechanism 22 of the motion mechanism 20 to operate, so that the three fixtures 23 move to the center positions of the lamp panel 32 corresponding to the lamp panel assembly 30 (i.e., the calibration positions corresponding to the lamp panel assembly 30); then, the control system 50 controls the lamp panel assembly 30 to work to light the lamp panel 32, so as to calibrate internal parameters of the TOF module through the lamp panel 32; subsequently, after completing calibration of internal parameters, the control system 50 controls the lamp panel assembly 30 to stop working to close the lamp panel 32, and the control system 50 controls the Z-axis steering mechanism 24 of the moving mechanism 20 to move to rotate the tool 23 forward by 90 °; meanwhile, the control system 50 controls the lifting mechanism 42 of the small light source assembly 40 to operate to raise the height of the infrared light source 41, so that the infrared light source 41 is located right in front of the TOF module, and the TOF module is tested for visual sensitivity by the infrared light source; finally, the control system 50 controls the movement mechanism 20 and the small light source assembly 40 to be reset so as to perform loading and unloading operations.

It is worth mentioning that, because right after the TOF module carries out the demarcation of internal parameter, often still need be right the exactness of the demarcation parameter of TOF module is tested, consequently according to the utility model discloses a TOF module calibration equipment of second embodiment is elucidated. In particular, as shown in fig. 5, compared to the above-mentioned first embodiment according to the present invention, according to the present invention the difference of the TOF module calibration apparatus 1 of the second embodiment is that: the TOF module calibration apparatus 1 may further include a target assembly 60, wherein the target assembly 60 is correspondingly disposed on the calibration rack 10, and when the motion mechanism 20 moves the TOF module to the calibration position corresponding to the target assembly 60, the target assembly 60 is used to test the correctness of the calibration parameters of the TOF module.

More specifically, as shown in fig. 5, the target assembly 60 may be, but is not limited to, implemented as a target box 61, wherein the target box 61 is independently disposed in front of the calibration rack 10, and the distance between the target in the target box 61 and the tool 23 of the moving mechanism 20 can be adjusted to meet the requirements of different TOF modules. It can be understood that TOF module calibration equipment 1 can be through the adjustment the target position in the target case 61 is adjusted the target with distance between the frock 23, also can be through the adjustment the position of target case 61 self is adjusted the target with distance between the frock 23, the utility model discloses it is no longer repeated to this.

Preferably, as shown in fig. 5, the reticle pod 61 has a module entrance port 610, wherein the module entrance port 610 is located just in front of the TOF module when the Z-steering mechanism 24 of the motion mechanism 20 rotates the tool 23 forward by 90 °. In this way, when the TOF module is tested for visual sensitivity, the lifting mechanism 42 of the small light source assembly 40 lifts the infrared light source 41 to be located between the TOF module and the module entrance port 610 of the reticle box 61, so that the TOF module is tested for visual sensitivity through the infrared light source 41. When the TOF module is tested for the correctness of calibration parameters, the lifting mechanism 42 lowers the infrared light source 41 to prevent the infrared light source 41 from shielding the module entrance port 610, so that the reticle box 61 can test the correctness of calibration parameters of the TOF module.

More preferably, the control system 50 of the TOF module calibration apparatus 1 is controllably connected to the reticle box 61 of the reticle assembly 60 for controlling the position of the reticle in the reticle box 61 to automatically adjust the distance between the reticle and the TOF module, contributing to an increased degree of automation of the TOF module calibration apparatus 1.

It is worth noting that in the above first and second embodiments of the present invention, the feeding and blanking operations of the TOF module calibration apparatus 1 (i.e. installing the TOF module before calibration to the tooling 23 of the moving mechanism 20 and unloading the TOF module after calibration from the tooling 23 of the moving mechanism 20) are often manually completed by a human operator, which results in that the TOF module calibration apparatus 1 still does not achieve a full automation degree. Therefore, in order to further promote the degree of automation of TOF module calibration apparatus 1, according to the utility model discloses a TOF module calibration apparatus 1 of a third embodiment is elucidated. In particular, as shown in fig. 6, compared to the above-mentioned second embodiment according to the present invention, according to the present invention the difference of the TOF module calibration apparatus 1 of the third embodiment is that: the TOF module calibration apparatus 1 may further include a loading and unloading assembly 70, wherein the loading and unloading assembly 70 is correspondingly disposed on the calibration rack 10, and is used for automatically loading and unloading the tooling 23 of the motion mechanism 20.

More specifically, as shown in fig. 6, the loading and unloading assembly 70 may be, but is not limited to, implemented as an automated robot 71, wherein the automated robot 71 is controllably connected to the control system 50, and the automated robot 71 is under the control of the control system 50 for automatically unloading calibrated TOF modules from the tooling 23 of the motion mechanism 20 at loading and unloading positions and installing uncalibrated TOF modules to the tooling 23 of the motion mechanism 20.

Preferably, as shown in fig. 6, the feeding and discharging assembly 70 is disposed behind the calibration frame 10 to avoid the feeding and discharging assembly 70 from interfering with the small light source assembly 40 or the calibration assembly 60, so as to facilitate the forward operation of the TOF module calibration apparatus 1.

More preferably, one feeding and discharging assembly 70 may be disposed between two calibration racks 10, and is configured to provide feeding and discharging operations for the moving mechanisms 20 on the two calibration racks 10 synchronously, which is beneficial to improving the feeding and discharging efficiency of the TOF module calibration apparatus 1, so as to improve the calibration efficiency of the TOF module calibration apparatus 1, and reduce the calibration cost of the TOF module.

It will be understood by those skilled in the art that the embodiments of the present invention as described above and shown in the drawings are given by way of example only and are not limiting of the present invention. The objects of the present invention have been fully and effectively accomplished. The functional and structural principles of the present invention have been shown and described in the embodiments without departing from the principles, embodiments of the present invention may have any deformation or modification.

Claims

TOF module calibration equipment for demarcate the TOF module, its characterized in that, wherein TOF module calibration equipment includes:

a calibration frame;

a motion mechanism, wherein the motion mechanism is mounted to the calibration gantry and the motion mechanism is configured to movably secure the TOF module to move the TOF module to various calibration positions;

the lamp panel assembly is arranged on the calibration rack, and is used for calibrating internal parameters of the TOF module when the TOF module is moved to a calibration position corresponding to the lamp panel assembly by the motion mechanism; and

and the small light source assembly is arranged on the calibration rack and used for testing the visual sensitivity of the TOF module when the motion mechanism moves the TOF module to the calibration position corresponding to the small light source assembly.
2. The TOF module calibration apparatus according to claim 1, wherein the lamp panel assembly includes a lamp panel support and a lamp panel, wherein the lamp panel is mounted in the calibration frame in a suspended manner by the lamp panel support, and the lamp panel is located above the movement mechanism.
3. The TOF module calibration apparatus of claim 2, wherein the lamp panel is detachably mounted to the lamp panel bracket and the height of the lamp panel can be adjusted up and down.
4. The TOF module calibration apparatus of claim 2 wherein said motion mechanism comprises an X-axis translation mechanism, a Y-axis translation mechanism and one or more tools, wherein said tools are translatably mounted to said calibration gantry by said X-axis translation mechanism and said Y-axis translation mechanism, and wherein said tools are adapted to fixedly mount the TOF module, wherein said X-axis translation mechanism is adapted to move said tools along the X-axis direction and said Y-axis translation mechanism is adapted to move said tools along the Y-axis direction.
5. The TOF module calibration apparatus according to claim 4, wherein said motion mechanism further comprises a linear motor, wherein said linear motor is driveably disposed in said tool for driving said tool to move toward and away from each other.
6. The TOF module calibration apparatus of claim 5 wherein the small light source assembly includes at least one infrared light source, wherein the infrared light source is configured to emit infrared light to test the visual sensitivity of the TOF module when the motion mechanism moves the TOF module to a calibration position corresponding to the infrared light source.
7. The TOF module calibration apparatus according to claim 6, wherein the small light source assembly further comprises a lifting mechanism, wherein the lifting mechanism elevatably mounts the infrared light source to the calibration frame for moving the infrared light source up and down to adjust the height of the infrared light source so that the infrared light source is correspondingly positioned right in front of the TOF module.
8. The TOF module calibration apparatus of claim 7 wherein said motion mechanism further comprises a Z-axis steering mechanism, wherein said Z-axis steering mechanism is configured to rotate said tool to switch the TOF module between upward facing and forward facing.
9. The TOF module calibration apparatus according to any one of claims 1 to 8, further comprising a control system, wherein the control system is controllably connected to the motion mechanism, the lamp panel assembly and the small light source assembly for automatically controlling the operation of the motion mechanism, the lamp panel assembly and the small light source assembly, so that the TOF module calibration apparatus can automatically complete calibration of internal parameters of the TOF module and testing of visual sensitivity.
10. The TOF module calibration apparatus according to any one of claims 4 to 5, further comprising a target assembly, wherein said target assembly is correspondingly disposed on said calibration rack, and when said motion mechanism moves the TOF module to a calibration position corresponding to said target assembly, said target assembly is used for testing the correctness of calibration parameters of the TOF module.
11. The TOF module calibration apparatus of claim 10 wherein the target assembly is a target box, wherein the target box is independently disposed in front of the calibration frame and wherein multiple distances between targets in the target box and the tooling of the motion mechanism can be adjusted.
12. The TOF module calibration apparatus according to any one of claims 4 to 5, further comprising a loading and unloading assembly, wherein said loading and unloading assembly is correspondingly disposed on said calibration frame for automatically loading and unloading said tooling of said motion mechanism.
13. The TOF module calibration apparatus according to claim 12 wherein said loading and unloading assembly is a robotic arm, wherein said robotic arm is disposed behind said calibration frame for unloading calibrated TOF modules from said tool at loading and unloading positions and mounting uncalibrated TOF modules to said tool.