CN111820899B

CN111820899B - Sensor calibration device

Info

Publication number: CN111820899B
Application number: CN201910307219.9A
Authority: CN
Inventors: 张永融; 周贤
Original assignee: Tg3d Technology Co ltd
Current assignee: Tg3d Technology Co ltd
Priority date: 2019-04-17
Filing date: 2019-04-17
Publication date: 2024-02-09
Anticipated expiration: 2039-04-17
Also published as: CN111820899A

Abstract

The invention discloses a sensor calibration device which comprises a rod body and a plate-shaped structure. The rod bodies are pivoted with each other, and each plate-shaped structure is provided with a first side, a second side and a third side, wherein the second side and the third side are adjacent to the first side. The first sides of the plate-shaped structures are respectively pivoted to the rod bodies, and the second side of one of the two adjacent plate-shaped structures and the third side of the other plate-shaped structure are pivoted to each other. When a force in a first direction or a second direction is applied to one of the rod body and the plate-shaped structure, the rod body and the plate-shaped structure are unfolded in the first direction or folded in the second direction. The sensor calibration device of the invention enables a user to simply and stably unfold or fold the sensor calibration device according to the actual requirement so as to change the whole height, thereby being beneficial to improving the convenience of the sensor calibration of the human body scanner. In addition, the sensor calibration apparatus can be folded efficiently, and thus a storage space can be saved.

Description

Sensor calibration device

Technical Field

The present invention relates to a sensor calibration device, and more particularly, to a sensor calibration device for a body scanner.

Background

As stereoscopic scanning technology continues to evolve, it becomes more important how to accurately sense the distribution of three-dimensional objects in space. For example, a human body scanner can perform stereoscopic scanning with respect to the size of a human body. In order to ensure the accuracy of the body scanner, it is necessary to correct the sensor of the body scanner to ensure that the body scanner can accurately perform the body scanning.

Disclosure of Invention

The invention provides a sensor calibration device which can be folded effectively to save storage space.

According to some embodiments of the invention, a sensor calibration apparatus includes a rod and a plate structure. The rod bodies are pivoted with each other, and each plate-shaped structure is provided with a first side, a second side and a third side, wherein the second side and the third side are adjacent to the first side. The first sides of the plate-shaped structures are respectively pivoted to the rod bodies, and the second side of one of the two adjacent plate-shaped structures and the third side of the other plate-shaped structure are pivoted to each other. When a force in a first direction or a second direction is applied to one of the rod body and the plate-shaped structure, the rod body and the plate-shaped structure are unfolded in the first direction or folded in the second direction.

In some embodiments of the present invention, each rod has two extending portions at two ends, and two extending portions of two adjacent rods are opposite to each other, and the sensor calibration apparatus further includes a first rotation shaft passing through two extending portions of two adjacent rods.

In some embodiments of the invention, each plate-like structure has an extension, and two extensions of adjacent two of the plate-like structures are opposite to each other, and the sensor calibration device further comprises a second rotation shaft passing through the two extensions of adjacent two of the plate-like structures.

In some embodiments of the invention, when the plate-like structures are deployed, a first side of one of the plate-like structures is interleaved with a rod corresponding to the pin-connected plate-like structure.

In some embodiments of the invention, the first side of the plate-like structure is substantially parallel to the rod body when the plate-like structure is folded.

In some embodiments of the invention, each plate-like structure is counter-rotated to the corresponding rod body when the plate-like structure is unfolded or folded.

In some embodiments of the invention, the distance between the second side of each plate-like structure and the third side of the adjacent other is substantially equal.

In some embodiments of the invention, each rod has opposite first and second ends, the distance between the first end of each rod and the second end of the adjacent other rod being approximately equal.

In some embodiments of the invention, the sensor calibration apparatus further comprises a marking structure extending from one of the rod or plate structure to provide dimensional information.

In some embodiments of the invention, the sensor calibration apparatus further comprises a pattern of indicia on one of the plurality of plate-like structures for providing dimensional information.

In the above embodiments of the present invention, the user can simply and firmly unfold or fold the sensor calibration device according to the actual requirement to change the overall height, which is helpful for improving the convenience of the sensor calibration of the human body scanner. In addition, the sensor calibration apparatus can be folded efficiently, and thus a storage space can be saved.

Drawings

FIG. 1 is a perspective view of a sensor calibration apparatus according to some embodiments of the present invention when used for calibration.

Fig. 2 is a partial enlarged view of the sensor calibration apparatus of fig. 1 when deployed.

Fig. 3 is an enlarged partial view of the sensor calibration device of fig. 1 partially folded.

Fig. 4 is an enlarged view of a portion of two adjacent rods of fig. 1.

Fig. 5 is an enlarged view of a portion of the two adjacent plate-like structures of fig. 1.

FIG. 6 is a partial side view of the sensor calibration apparatus of FIG. 1.

Fig. 7 is a perspective view of the sensor calibration apparatus of fig. 1 when folded.

Fig. 8 is a perspective view of a sensor calibration apparatus according to some embodiments of the invention.

Fig. 9 is a schematic diagram of a sensor calibration apparatus according to some embodiments of the present invention housed in a case.

Fig. 10 is a schematic view of a sensor calibration apparatus according to some embodiments of the invention hanging upside down from a ceiling.

Fig. 11 is a perspective view of a sensor calibration apparatus according to some embodiments of the invention.

Detailed Description

In the following description, numerous practical details of the embodiments of the invention are set forth in the following description, taken in conjunction with the accompanying drawings. However, it should be understood that these practical details are not to be taken as limiting the invention. That is, in some embodiments of the invention, these practical details are unnecessary. Furthermore, for the sake of simplicity of the drawing, some well-known and conventional structures and elements are shown in the drawings in a simplified schematic manner. And the thickness of layers and regions in the drawings may be exaggerated for clarity and like reference numerals refer to like elements throughout the description of the drawings.

Fig. 1 is a perspective view of a sensor calibration apparatus 100 according to some embodiments of the present invention when used for calibration. The sensor calibration apparatus 100 includes a rod 110 and a plate-like structure 120. In the present embodiment, the sensor calibration apparatus 100 is used to calibrate the sensor 210 of the human scanner 200. When performing calibration of the body scanner 200, the user may expand the sensor calibration apparatus 100 to a desired height and activate the body scanner 200. The sensor 210 of the body scanner 200 can detect the plate-like structure 120 placed in front to obtain depth information, and calibrate the sensor 210 through a computing device (not shown), so that the process is convenient and simple.

Fig. 2 is a partial enlarged view of the sensor calibration apparatus 100 of fig. 1 when deployed. Fig. 3 is a partial enlarged view of the sensor calibration device 100 of fig. 1 when partially folded. The plate-like structure 120 has a first side 121, a second side 122 adjacent to the first side 121, and a third side 123. The two adjacent rods 110 are pivoted to each other, and the second side 122 of one of the two adjacent plate-like structures 120 is pivoted to the third side 123 of the other. The first sides 121 of the plate-like structures 120 are respectively pivoted to the rod 110.

In this embodiment, the plate-like structure 120 is rectangular and has a fourth side 124 opposite the first side 121. The two rods 110 are pivotally connected to the first side 121 and the fourth side 124 of the plate-like structure 120 in parallel (i.e. substantially parallel), but the invention is not limited thereto. In some embodiments, the plate-like structure 120 is of any shape, the first side 121 is the edge or frame of the plate-like structure 120 near the rod 110, and the fourth side 124 may be the edge or frame near the other rod 110. In addition, the second side 122 of the plate-like structure 120 is adjacent to the third side 123 of another plate-like structure 120, i.e., two edges or frames adjacent to each other when the plate-like structures 120 are arranged in sequence.

As shown in fig. 1, in the present embodiment, the rod 110 and the plate structure 120 of the sensor calibration apparatus 100 have fixed ends 102 slidably fixed to the ground of the body scanner 200. Referring to fig. 1, 2 and 3, when the rod 110 or the plate-like structure 120 is applied with a force along the first direction D1 (i.e. a direction away from the fixed end 102), the sensor calibration apparatus 100 is unfolded along the first direction D1. When the rod 110 or the plate-like structure 120 is applied with a force in the second direction D2 (i.e., toward the fixed end 102), the sensor calibration apparatus 100 is folded toward the second direction D2. That is, the sensor calibration apparatus 100 may be unfolded from the state shown in fig. 3 along the first direction D1 to the state shown in fig. 2, or may be folded from the state shown in fig. 2 along the second direction D2 to the state shown in fig. 3, and the second direction D2 is substantially opposite to the first direction D1.

Fig. 4 is a partial enlarged view of two adjacent rod bodies 110 of fig. 1. As shown, the upper and lower rods 110 are adjacent and each have a first end 112 and a second end 114. The first end 112 and the second end 114 each have an extension 116. The extension 116 of the first end 112 of the upper rod 110 is opposite the extension 116 of the second end 114 of the lower rod 110.

In some embodiments, the sensor calibration apparatus 100 also has a first rotation axis 130. The two opposite extension portions 116 are pivotally connected to each other by the first pivot 130. Specifically, in some embodiments, two opposing extensions 116 have perforations aligned with each other, and a first shaft 130 passes through both perforations. In this way, the upper rod 110 and the lower rod 110 can rotate relatively with the first shaft 130 as the axis. In addition, the second end 114 of the upper rod 110 also has the same extension 116, and the first end 112 of the lower rod 110 also has the same extension 116 and is pivotally connected to each other in the same manner as the adjacent other rod 110.

In the present embodiment, during the process of unfolding or folding the sensor calibration apparatus 100 by the user, the upper rod 110 and the lower rod 110 rotate in opposite directions around the first rotation shaft 130. For example, as shown in fig. 4, during the user's deployment of the sensor calibration apparatus 100, the lower lever 110 rotates in the clockwise direction C1, and the upper lever 110 rotates in the counterclockwise direction C2.

Fig. 5 is an enlarged view of a portion of the two adjacent plate-like structures 120 of fig. 1. As shown, the upper and lower plate-like structures 120 are adjacent, each having an extension 126. The third side 123 of the upper plate-like structure 120 is opposite the second side 122 of the lower plate-like structure 120.

In some embodiments, the sensor calibration apparatus 100 also has a second axis of rotation 140. The extending portion 126 of the upper plate-like structure 120 is opposite to the extending portion 126 of the lower plate-like structure 120, and is pivoted to each other by the second rotation shaft 140. Specifically, in some embodiments, the two opposing extensions 126 have perforations aligned with each other, and the second shaft 140 passes through the perforations of the two opposing extensions 126. In this way, the upper plate-like structure 120 and the lower plate-like structure 120 can relatively rotate about the second rotation shaft 140. In addition, the second side 122 of the upper plate-like structure 120 also has the same extension 126, and the third side 123 of the lower plate-like structure 120 also has the same extension 126 and are respectively pivoted to each other in the same way as the adjacent other plate-like structure 120.

During the process of unfolding or folding the sensor calibration apparatus 100, the two adjacent plate-like structures 120 rotate in opposite directions around the second rotation axis 140. For example, as shown in fig. 5, during the user's deployment of the sensor calibration apparatus 100, the upper plate-like structure 120 rotates in a clockwise direction C1 and the lower plate-like structure 120 rotates in a counterclockwise direction C2.

In the present embodiment, the plate-like structure 120 is a plane, and in other embodiments, the plate-like structure 120 may be a curved surface. In this embodiment, the plate-like structure 120 has four extensions 126. The extending portions 126 are located at corners formed by two adjacent sides of the plate-like structure 120, but the invention is not limited thereto. The extension portion 126 may extend from the second side 122 and the third side 123 of the plate-shaped structure 120, or may extend from the first side 121 and the fourth side 124 of the plate-shaped structure 120, which is not intended to limit the present invention. For example, the extension 126 of the upper plate-like structure 120 may be located at any position on the second side 122, and the extension 126 of the lower plate-like structure 120 may be located at a corresponding position on the third side 123, so long as two adjacent plate-like structures 120 can be relatively rotated.

Fig. 6 is a partial side view of the sensor calibration apparatus 100 of fig. 1. In the present embodiment, the rod 110 is pivoted to the plate-shaped structure 120 through the third rotation shaft 150, and the third rotation shaft 150 passes through the center of the rod 110 and the center of the first side 121 of the plate-shaped structure 120. The rod 110 is arranged in a zigzag manner, and the first side 121 of the plate-like structure 120 coupled to the rod 110 presents an opposite zigzag arrangement to the rod 110.

The sensor calibration apparatus 100 has a plurality of sets of rods 110 and plate-like structures 120 coupled to each other. Taking the upper rod 110 and the plate-like structure 120 in fig. 6 as an example, the rod 110 is staggered with respect to the first side 121 of the plate-like structure 120 correspondingly coupled thereto. In other words, in the present embodiment, the plate-like structure 120 is rectangular, and the long axis of the rod 110 is staggered with the extending direction of the first side 121 of the correspondingly coupled plate-like structure 120. The lower rod 110 and the first side 121 of the plate-like structure 120 in fig. 6 have fixed ends 102 slidably fixed to the ground. When the user folds the sensor calibration apparatus 100 along the second direction D2, the upper rod 110 rotates around the upper third rotation axis 150 in the counterclockwise direction C2, and the upper plate-like structure 120 rotates around the upper third rotation axis 150 in the clockwise direction C1. That is, the long axis of the rod 110 is opposite to the rotation direction of the first side 121 of the plate-like structure 120 correspondingly coupled.

In addition, since the rod 110 and the plate-shaped structure 120 (the first side 121 is shown in the figure) are disposed in a staggered manner, when the user folds the sensor calibration apparatus 100 along the second direction D2, the lower rod 110 rotates around the lower third rotating shaft 150 as the axis in the clockwise direction C1, and the lower plate-shaped structure 120 rotates around the lower third rotating shaft 150 as the axis in the counterclockwise direction C2.

As can be seen from the above, when the user folds the sensor calibration apparatus 100, the first rotation shaft 130 pivoted to the two rods 110 and the second rotation shaft 140 pivoted to the two plate-like structures 120 are far away from each other in the third direction D3 substantially perpendicular to the second direction D2, and the upper and lower third rotation shafts 150 are close to each other in the second direction D2. Further, as shown in fig. 3, the first rotation shafts 130 aligned along the first direction D1 or the second direction D2 are close to each other in the second direction D2, and the second rotation shafts 140 aligned along the first direction D1 or the second direction D2 are also close to each other in the second direction D2.

Conversely, when the user deploys the sensor calibration apparatus 100, the first shaft 130 pivotally connected to the two rods 110 and the second shaft 140 pivotally connected to the two plate-like structures 120 are close to each other in the third direction D3, and the upper third shaft 150 and the lower third shaft 150 are far away from each other in the second direction D2. In addition, as shown in fig. 2, the first rotating shafts 130 arranged along the first direction D1 or the second direction D2 are far away from each other in the second direction D2, and the second rotating shafts 140 arranged along the first direction D1 or the second direction D2 are also far away from each other in the second direction D2.

Further, when an external force is applied to either one of the rods 110 or one of the plate-like structures 120 along the second direction D2, the adjacent rods 110 rotate in opposite directions relative to the first rotation axis 130 to approach each other. At this time, the third shaft 150 coupled to the two rods 110 rotates the adjacent two plate-like structures 120 in opposite directions relative to the second shaft 140 to approach each other. Accordingly, each rod 110 is synchronously rotated to be nearly horizontal (this means perpendicular to the second direction D2), and each plate-like structure 120 is synchronously rotated to be nearly horizontal, so that the sensor calibration apparatus 100 is folded along the second direction D2.

Fig. 7 is a perspective view of the sensor calibration apparatus 100 of fig. 1 when folded. When the sensor calibration apparatus 100 is folded, the rod 110 is substantially parallel to the first side 121 of the plate-like structure 120. In other words, in the present embodiment, the plate-like structure 120 is rectangular, and the long axis of the rod 110 is substantially parallel to the extending direction of the first side 121 of the correspondingly coupled plate-like structure 120. That is, the rod 110 and the plate-like structure 120 are stacked in the first direction D1. As can be seen, the sensor calibration apparatus 100 of the present invention can be folded effectively to save the storage space.

In the present embodiment, the length of each rod 110 is substantially the same, and the distance between the second side 122 and the third side 123 of each plate-like structure 120 is also substantially the same. As shown in fig. 4, when the user deploys the sensor calibration apparatus 100, a distance H1 is provided between the second end 114 of the upper rod 110 and the first end 112 of the lower rod 110, and the distances H1 between any two adjacent rods 110 in the sensor calibration apparatus 100 are substantially equal. In addition, as shown in fig. 5, when the user completes the deployment of the sensor calibration apparatus 100, a distance H2 is provided between the second side 122 of the upper plate-like structure 120 and the third side 123 of the lower plate-like structure 120, and the distance H2 between any two adjacent plate-like structures 120 in the sensor calibration apparatus 100 is substantially equal.

In other words, when a user applies force to any one of the rods 110 or any one of the plate-like structures 120 to fold or unfold the sensor calibration apparatus 100, all of the rods 110 and the plate-like structures 120 of the sensor calibration apparatus 100 can be folded or unfolded jointly. Therefore, the sensor calibration apparatus 100 of the present invention allows the user to easily and stably change the overall height according to the actual requirements.

For example, in the embodiment of fig. 1, when the sensor 210 is distributed in a wide range of heights, the sensor calibration apparatus 100 can be unfolded to the state shown in fig. 2. However, when the height range of the sensor 210 distribution is narrow, or only a portion of the sensor 210 needs to be calibrated, the sensor calibration apparatus 100 may alternatively be partially deployed to the state shown in fig. 3.

In this way, the plurality of sensors 210 installed in any direction or any height inside the body scanner 200 can obtain depth information for calibration with each other through any plate-like structure 120 of the sensor calibration apparatus 100. Therefore, the sensor calibration apparatus 100 of the present invention can be adjusted according to different calibration requirements, has a great flexibility of application, and is helpful for improving the convenience of calibration of the human scanner 200.

Fig. 8 is a perspective view of a sensor calibration apparatus 100 according to some embodiments of the invention. In some embodiments, the sensor calibration device 100 also has a marker structure 180. The marking structure 180 may extend from an edge of the rod 110 or the plate 120, or be coupled to an edge of the rod 110 or the plate 120. In particular, the marker structure 180 may extend in either direction and have a known length. In addition, the length of the marker structure 180 is a size information that allows the user to calculate the required calibration process, thereby helping to improve the calibration accuracy. In some other embodiments, the sensor calibration apparatus 100 has a pattern of indicia 182 printed on the plate-like structure 120. The marking pattern 182 may extend in either direction and have a known length. The marking pattern 182 has similar efficacy as the marking structure 180 and can be used in place of the marking structure 180.

As shown in fig. 8, in some embodiments, the sensor calibration apparatus 100 further has a pneumatic rod 160 and a sliding rail 170 for slidably fixing the rod 110 and the fixed end 102 of the plate-like structure 120 (i.e. the end of the rod 110 and the end of the plate-like structure 120 located at the bottom). For example, in the present embodiment, the sensor calibration apparatus 100 can be housed in the case 300, so the air bar 160 and the sliding rail 170 can be fixed to the bottom plate or the inner wall of the case 300. The air pressure lever 160 is used for assisting the user to unfold the rod 110 and the plate-shaped structure 120 in the first direction D1 and buffering the force of the user to fold the rod 110 and the plate-shaped structure 120 in the second direction D2. As shown in fig. 8, in the present embodiment, the fixed end 102 is engaged in the sliding rail 170 through the sliding block 106. The fixed end 102 is movable within the sliding rail 170 by the slider 106 during the unfolding or folding of the sensor calibration apparatus 100. In this way, the process of expanding or collapsing the sensor calibration apparatus 100 may be smoother.

In addition, the sensor calibration apparatus 100 further has a connecting rod 104 disposed between the sliding rails 170. One end of the connecting rod 104 is fixed to the bottom plate or the inner wall of the case 300, and the other end is pivoted to the rod body 110. When the sensor calibration apparatus 100 is unfolded or folded, the connecting rod 104 and the rod 110 correspondingly pivoted rotate reversely, so that the rod 110 is rotatably fixed to the case 300 during sliding.

Fig. 9 is a schematic diagram of a sensor calibration apparatus 100 according to some embodiments of the present invention stored in a case 300. In the present embodiment, when the rod 110 and the plate-like structure 120 are folded to the state shown in fig. 7, the sensor calibration apparatus 100 can be stored and carried by the case 300, so as to increase the convenience of storing the sensor calibration apparatus 100.

Fig. 10 is a schematic diagram of a sensor calibration apparatus 100 according to some embodiments of the invention hanging upside down from a ceiling. In this embodiment, the fixed end 102 of the sensor calibration apparatus 100 may be fixed to the ceiling. In some embodiments, the pneumatic rod 160 and the sliding rail 170 may also be disposed at the fixed end 102. The user can extend the sensor calibration apparatus 100 from the ceiling to the floor to a desired height. In some embodiments, as shown in FIG. 1, the pneumatic rod 160 and the sliding rail 170 may also be fixed to the floor.

Fig. 11 is a perspective view of a sensor calibration apparatus 100 according to some embodiments of the invention. In this embodiment, the sensor calibration apparatus 100 further has a handle 190 coupled between the two parallel sets of rods 110 of the sensor calibration apparatus 100. In this way, the user can simultaneously unfold or fold the rod 110 and the plate structure 120 of the two sets of sensor calibration apparatuses 100 by the handle 190, thereby increasing the convenience of unfolding and folding the sensor calibration apparatuses 100.

In summary, the sensor calibration apparatus 100 of the present invention can be folded effectively to save the storage space. In addition, the user can easily and stably unfold or fold the sensor calibration apparatus 100 according to the actual requirement to change the overall height, thereby facilitating the calibration of the sensor 210 (see fig. 1) of the body scanner 200.

Although the present invention has been described with reference to the above embodiments, it should be understood that the invention is not limited thereto, but may be variously modified and modified by those skilled in the art without departing from the spirit and scope of the present invention, and the scope of the present invention is defined by the following claims.

Claims

1. A sensor calibration apparatus, comprising:

the rod bodies are pivoted with each other and are arranged in a zigzag manner; and

a plurality of plate-like structures each having a first side and a second side and a third side adjacent to the first side, a fourth side opposite to the first side, the plurality of rods being pivotally connected to the first side and the fourth side of the plurality of plate-like structures in parallel, the first side of the plurality of plate-like structures exhibiting a zigzag arrangement opposite to the plurality of rods, and the second side of one of the plurality of plate-like structures and the third side of the other of the plurality of plate-like structures being pivotally connected to each other, wherein the plurality of rods and the plurality of plate-like structures are unfolded in the first direction or folded in the second direction upon application of a force in the first direction or the second direction to one of the plurality of rods, the plurality of plate-like structures being configured to provide sensor depth information;

the sensor calibration device is also provided with a handle, which is coupled between the two groups of parallel rod bodies of the sensor calibration device, and the rod bodies and the plate-shaped structure of the two groups of sensor calibration device are synchronously unfolded or folded through the handle.

2. The sensor calibration apparatus of claim 1, wherein each of the two ends of the rods has an extension, and the two extensions of adjacent two of the plurality of rods are opposite each other, the sensor calibration apparatus further comprising:

the first rotating shaft passes through the two extending parts of two adjacent rod bodies.

3. The sensor calibration apparatus of claim 1, wherein each of the plate-like structures has an extension, and the two extensions of adjacent two of the plurality of plate-like structures are opposite each other, the sensor calibration apparatus further comprising:

the second rotating shaft passes through the two extending parts of two adjacent plate-shaped structures.

4. The sensor calibration apparatus of claim 1, wherein the first side of one of the plurality of plate-like structures is interleaved with the rod body that is correspondingly pivotally connected to the plate-like structure when the plurality of plate-like structures are deployed.

5. The sensor calibration apparatus of claim 1, wherein the plurality of first sides of the plurality of plate-like structures are parallel to the plurality of rods when the plurality of plate-like structures are folded.

6. The sensor calibration apparatus of claim 1, wherein each of the plate-like structures is opposite to a rotational direction of the corresponding rod body when the plurality of plate-like structures are unfolded or folded.

7. The sensor calibration apparatus of claim 1, wherein a distance between the second side of each of the plate-like structures and the third side of an adjacent other is equal.

8. The sensor calibration apparatus of claim 1, wherein each of the rods has opposite first and second ends, the first end of each rod being equidistant from the second end of an adjacent other rod.

9. The sensor calibration apparatus of claim 1, further comprising:

and the marking structure extends from one of the plurality of rod bodies or the plurality of plate-shaped structures to provide size information.

10. The sensor calibration apparatus of claim 1, further comprising:

and the marking pattern is positioned on one of the plurality of plate-shaped structures and used for providing size information.