TWI705415B - Sensor calibration apparatus - Google Patents

Abstract

A sensor calibration apparatus includes sticks and plate structures. The sticks are pivoted with each other, and each of the plate structures has a first side, a second side, and a third side. The second side and the third side are adjacent to the first side. The first sides of each of the plate structures are respectively pivoted to the sticks. The second side of one of the plate structure of two adjacent plate structures and the third side of the other plate structure are pivoted with each other. When one of the sticks and the plate structures is applied by a force in a first direction or a second direction, the sticks and the plate structures are extended in the first direction or are folded in the second direction.

Description

Sensor calibration equipment

The present invention relates to a sensor calibration equipment, in particular to a sensor calibration equipment for a human body scanner.

With the continuous development of stereo scanning technology, how to accurately sense the distribution of three-dimensional objects in space has become more important. For example, a human body scanner can perform stereo scanning for the size of the human body. In order to ensure the accuracy of the human body scanner, it is necessary to calibrate the sensor of the body scanner to ensure that the body scanner can accurately perform body scanning.

One technical aspect of this disclosure is a sensor calibration device.

According to some embodiments of the present disclosure, the sensor calibration device includes a rod body and a plate structure. The rod bodies are pivotally connected to each other, and the plate-shaped structures each have a first side and a second side and a third side adjacent to the first side. The first side of the plate-like structure is pivotally connected to the rod body, and one of the two adjacent plate-like structures The second side of and the third side of the other are pivotally connected to each other. When a force in the first direction or the second direction is applied to one of the rod body and the plate-shaped structure, the rod body and the plate-shaped structure are expanded in the first direction or folded in the second direction.

In some embodiments of the present disclosure, the two ends of each rod body have extension parts, and the two adjacent extension parts of the rod body are opposite to each other. The sensor calibration device further includes a first rotating shaft passing through the rod body The two adjacent two extensions.

In some embodiments of the present disclosure, each plate-like structure has an extension, and two adjacent extensions of the plate-like structure are opposite to each other, and the sensor calibration device further includes a second rotating shaft that passes through the plate-like structure Two adjacent extensions in the middle.

In some embodiments of the present disclosure, when the plate-like structure is unfolded, the first side of one of the plate-like structures is staggered with the corresponding rod body pivotally connected to the plate-like structure.

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

In some embodiments of the present disclosure, when the plate-like structure is unfolded or folded, the rotation direction of each plate-like structure is opposite to that of the corresponding rod.

In some embodiments of the present disclosure, the distance between the second side of each plate-shaped structure and the third side of the adjacent other is approximately the same.

In some embodiments of the present disclosure, each rod has a first end and a second end opposite to each other, and the distance between the first end of each rod and the second end of the adjacent other is approximately the same.

In some embodiments of this disclosure, the sensor calibration device It also includes a marking structure extending from one of the rod body or the plate structure to provide a size information.

In some embodiments of the present disclosure, the sensor calibration device further includes a marking pattern, which is located on one of the plate-shaped structures, and is arranged to provide size information.

In the above-mentioned embodiments of the present disclosure, since the user can easily and firmly expand or fold the sensor calibration device according to actual needs to change the overall height, it is helpful to improve the convenience of sensor calibration of the body scanner. In addition, the sensor calibration device can be effectively folded, thus saving storage space.

100‧‧‧Sensor calibration equipment

102‧‧‧Fixed end

104‧‧‧Connecting rod

106‧‧‧Slider

110‧‧‧Pole

112‧‧‧First end

114‧‧‧Second end

116, 126‧‧‧Extension

120‧‧‧Plate structure

121‧‧‧First side

122‧‧‧Second side

123‧‧‧ third side

124‧‧‧Fourth side

130‧‧‧First shaft

140‧‧‧Second shaft

150‧‧‧third shaft

160‧‧‧Pneumatic lever

170‧‧‧Slide rail

180‧‧‧Marking structure

182‧‧‧Marking pattern

190‧‧‧Handle

200‧‧‧Body Scanner

210‧‧‧Sensor

300‧‧‧Box

D1‧‧‧First direction

D2‧‧‧Second direction

D3‧‧‧ Third party

C1‧‧‧clockwise

C2‧‧‧Counterclockwise

H1, H2‧‧‧Distance

FIG. 1 is a perspective view of the sensor calibration equipment used for calibration according to some embodiments of the present disclosure.

Figure 2 is a partial enlarged view of the sensor calibration equipment of Figure 1 when it is deployed.

Figure 3 is a partial enlarged view of the sensor calibration device of Figure 1 when partially folded.

Figure 4 is a partial enlarged view of the two adjacent rod bodies of Figure 1.

Figure 5 is a partial enlarged view of the two adjacent plate-like structures in Figure 1.

Figure 6 is a partial side view of the sensor calibration equipment of Figure 1.

Figure 7 is a perspective view of the sensor calibration device of Figure 1 when it is folded.

Figure 8 is a perspective view of a sensor calibration device according to some embodiments of the disclosure.

FIG. 9 is a schematic diagram of the sensor calibration equipment stored in a box according to some embodiments of the disclosure.

FIG. 10 is a schematic diagram of the sensor calibration equipment hanging upside down on the ceiling according to some embodiments of the disclosure.

Figure 11 is a perspective view of a sensor calibration device according to some embodiments of the disclosure.

Hereinafter, a plurality of embodiments of the present invention will be disclosed in the form of drawings. For clear description, many practical details will be described in the following description. However, it should be understood that these practical details should not be used to limit the present invention. That is, in some embodiments of the present invention, these practical details are unnecessary. In addition, in order to simplify the drawings, some conventionally used structures and elements will be shown in a simple schematic manner in the drawings. And for the sake of clarity, the thicknesses of layers and regions in the drawings may be exaggerated, and the same element symbols in the description of the drawings represent the same elements.

FIG. 1 is a perspective view of the sensor calibration device 100 used for calibration according to some embodiments of the present disclosure. The sensor calibration device 100 includes a rod 110 and a plate structure 120. In this embodiment, the sensor calibration device 100 is used to calibrate the sensor 210 of the body scanner 200. When performing the calibration of the body scanner 200, the user can calibrate the sensor to the device 100 is unfolded to the required height and the body scanner 200 is activated. The sensor 210 of the human body scanner 200 can detect the plate-shaped structure 120 placed in the front to obtain depth information, and calibrate the sensor 210 through a computing device (not shown). The process is convenient and simple.

Figure 2 is a partial enlarged view of the sensor calibration device 100 of Figure 1 when it is deployed. Figure 3 is a partial enlarged view of the sensor calibration device 100 of Figure 1 when partially folded. The plate structure 120 has a first side 121 and a second side 122 and a third side 123 adjacent to the first side 121. Two adjacent rod bodies 110 are pivotally connected to each other, and the second side 122 of one of the two adjacent plate-shaped structures 120 and the third side 123 of the other are pivotally connected to each other. The first side 121 of the plate structure 120 is pivotally connected to the rod 110 respectively.

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

As shown in FIG. 1, in this embodiment, the rod 110 and the plate structure 120 of the sensor calibration device 100 have a fixed end 102 that is slidably fixed on the ground of the body scanner 200. Please refer to Figure 1, Figure 2, and Figure 3 at the same time, when the rod 110 or the plate structure 120 is applied along After the force in the first direction D1 (that is, the direction away from the fixed end 102), the sensor calibration device 100 unfolds in the first direction D1. When the rod 110 or the plate structure 120 is applied with a force along the second direction D2 (that is, the direction toward the fixed end 102), the sensor calibration device 100 is folded in the second direction D2. In other words, the sensor calibration device 100 can be expanded from the state shown in Figure 3 along the first direction D1 to the state shown in Figure 2, or can be expanded from the state shown in Figure 2 along the second direction D2. Fold to the state shown in Figure 3, and the second direction D2 is substantially the opposite direction of the first direction D1.

Fig. 4 is a partial enlarged view of two adjacent rod bodies 110 in Fig. 1. As shown in the figure, the upper and lower rods 110 are adjacent to each other and each has 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 to the extension 116 of the second end 114 of the lower rod 110.

In some embodiments, the sensor calibration device 100 further has a first rotating shaft 130. The two opposite extending portions 116 are pivotally connected to each other through the first rotating shaft 130. Specifically, in some embodiments, the two opposite extending portions 116 have holes aligned with each other, and the first shaft 130 passes through the two holes. In this way, the upper rod 110 and the lower rod 110 can be relatively rotated using the first rotating 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 the same as the adjacent other rod 110. Ways are pivoted to each other.

In this embodiment, when the user unfolds or folds the sensor calibration device 100, the upper rod 110 and the lower rod 110 110 rotates in the opposite direction with the first rotating shaft 130 as the axis. For example, as shown in FIG. 4, when the user unfolds the sensor calibration device 100, the lower rod 110 rotates in a clockwise direction C1, and the upper rod 110 rotates in a counterclockwise direction C2.

Fig. 5 is a partial enlarged view of two adjacent plate-like structures 120 in Fig. 1. As shown in the figure, the upper and lower plate-shaped structures 120 are adjacent to each other and each has an extension 126. The third side 123 of the upper plate structure 120 is opposite to the second side 122 of the lower plate structure 120.

In some embodiments, the sensor calibration device 100 further has a second rotating shaft 140. The extension portion 126 of the upper plate structure 120 is opposite to the extension portion 126 of the lower plate structure 120 and is pivotally connected to each other through the second rotating shaft 140. Specifically, in some embodiments, the two opposite extending portions 126 have holes aligned with each other, and the second rotating shaft 140 passes through the holes of the two opposite extending portions 126. In this way, the upper plate structure 120 and the lower plate structure 120 can relatively rotate with the second rotating shaft 140 as the axis. In addition, the second side 122 of the upper plate structure 120 also has the same extension 126, and the third side 123 of the lower plate structure 120 also has the same extension 126, and is respectively adjacent to another adjacent plate structure. 120 are pivotally connected to each other in the same manner.

When the user unfolds or folds the sensor calibration device 100, two adjacent plate-like structures 120 rotate in opposite directions with the second rotating shaft 140 as the axis. For example, as shown in Figure 5, when the user unfolds the sensor calibration device 100, the upper plate structure 120 rotates in a clockwise direction C1, and the lower plate structure 120 rotates in a counterclockwise direction C2. turn.

In this embodiment, the plate structure 120 is a flat surface, and in other embodiments, the plate structure 120 may also be a curved surface. In this embodiment, the plate structure 120 has four extension portions 126. The extension 126 is located at the corner formed by the adjacent two sides of the plate structure 120, but the disclosure is not limited to this. The extension portion 126 may extend from the second side 122 and the third side 123 of the plate structure 120, or may extend from the first side 121 and the fourth side 124 of the plate structure 120, and is not intended to limit the present invention . For example, the extension 126 of the upper plate structure 120 can be located at any position on the second side 122, and the extension 126 of the lower plate structure 120 can be located at a corresponding position on the third side 123, as long as it can It is sufficient to rotate two adjacent plate-like structures 120 relatively.

Figure 6 is a partial side view of the sensor calibration equipment 100 of Figure 1. In this embodiment, the rod 110 and the plate structure 120 are pivotally connected through the third shaft 150, and the third shaft 150 passes through the center of the rod 110 and the center of the first side 121 of the plate structure 120. The rods 110 are arranged in a zigzag pattern, and the first side 121 where the plate-shaped structure 120 is coupled to the rod 110 is arranged in a zigzag pattern opposite to the rod 110.

The sensor calibration device 100 has a plurality of groups of rods 110 and a plate structure 120 coupled to each other. Taking the upper rod 110 and the plate structure 120 in FIG. 6 as an example, the rod 110 is staggered with the first side 121 of the correspondingly coupled plate structure 120. In other words, in this 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 plate-like structure 120 to which it is coupled. The rod 110 and the plate knot at the bottom in Figure 6 The first side 121 of the structure 120 has a fixed end 102 slidably fixed to the ground. When the user folds the sensor calibration device 100 in the second direction D2, the upper rod 110 rotates in the counterclockwise direction C2 with the upper third rotating shaft 150 as the axis, and the upper plate-shaped structure 120 is above the first The three rotating shaft 150 is a shaft center and rotates in a clockwise direction C1. That is, the long axis of the rod body 110 and the rotation direction of the first side 121 of the correspondingly coupled plate structure 120 are opposite.

In addition, since the rod 110 and the plate structure 120 (shown as the first side 121 in the figure) are arranged in reverse staggered fashion, when the user folds the sensor calibration device 100 in the second direction D2, the rod below The third rotating shaft 150 below the body 110 rotates in a clockwise direction C1 as an axis, and the third rotating shaft 150 below the plate-like structure 120 below rotates in a counterclockwise direction C2 as an axis.

According to the above, when the user folds the sensor calibration device 100, the first shaft 130 pivotally connected to the two rod bodies 110 and the second shaft 140 pivotally connected to the two plate-shaped structures 120 are substantially perpendicular to the second direction D2 The third direction D3 is far away from each other, and the upper and lower third rotating shafts 150 are close to each other in the second direction D2. In addition, as shown in Figure 3, the first shafts 130 arranged along the first direction D1 or the second direction D2 are close to each other in the second direction D2, and the first shafts 130 arranged along the first direction D1 or the second direction D2 are close to each other. The two rotating shafts 140 are also close to each other in the second direction D2.

Conversely, when the user unfolds the sensor calibration device 100, the first shaft 130 pivotally connected to the two rod bodies 110 and the second shaft 140 pivotally connected to the two plate-shaped structures 120 approach each other in the third direction D3, and Third from the top The rotating shaft 150 and the lower third rotating shaft 150 are away from each other in the second direction D2. In addition, as shown in Figure 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 first rotating shafts 130 arranged along the first direction D1 or the second direction D2 The two rotating shafts 140 are also away from each other in the second direction D2.

Furthermore, when an external force is applied to any rod 110 or any plate structure 120 along the second direction D2, two adjacent rods 110 rotate in opposite directions relative to the first rotating shaft 130 and approach each other. At this time, the third rotating shaft 150 coupled to the two rod bodies 110 causes the two adjacent plate-shaped structures 120 to rotate in opposite directions relative to the second rotating shaft 140 and approach each other. Therefore, each rod 110 synchronously rotates to a nearly horizontal state (this means perpendicular to the second direction D2), and each plate structure 120 synchronously rotates to a nearly horizontal state, so that the sensor calibration device 100 is moved along the first Fold in two directions D2.

Fig. 7 is a perspective view of the sensor calibration device 100 of Fig. 1 when the folding is completed. When the sensor calibration device 100 is folded, the rod 110 and the first side 121 of the plate structure 120 are approximately parallel. In other words, in this embodiment, the plate 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 plate structure 120 to which it is coupled. That is, the rod 110 and the plate structure 120 are both stacked in the first direction D1. It can be seen that the sensor calibration device 100 of the present disclosure can be effectively folded to save storage space.

In this embodiment, the length of each rod 110 is approximately the same, and the distance between the second side 122 and the third side 123 of each plate structure 120 is also approximately the same. As shown in Figure 4, when the user calibrates the sensor When the device 100 is deployed, there is a distance H1 between the second end 114 of the upper rod 110 and the first end 112 of the lower rod 110, and the distance between any two adjacent rods 110 in the sensor calibration device 100 The distances H1 are all approximately equal. In addition, as shown in Figure 5, when the user unfolds the sensor calibration device 100, there is a distance between the second side 122 of the upper plate structure 120 and the third side 123 of the lower plate structure 120 H2, and the distance H2 between any two adjacent plate-shaped structures 120 in the sensor calibration device 100 is approximately equal.

In other words, when the user applies force to any rod 110 or any plate structure 120 to fold or unfold the sensor calibration device 100, all rods 110 and plate-shaped structures of the sensor calibration device 100 The structures 120 can be folded or unfolded together. Therefore, the sensor calibration device 100 of the present disclosure allows the user to easily and firmly change the overall height according to actual needs.

For example, in the embodiment in FIG. 1, when the height range of the sensor 210 is wide, the sensor calibration device 100 can be expanded to the state shown in FIG. However, when the height range of the sensor 210 is narrow, or only a part of the sensor 210 needs to be calibrated, the sensor calibration device 100 can also be partially expanded to the state shown in FIG. 3.

In this way, a plurality of sensors 210 installed in the body scanner 200 at any position or at any height can obtain depth information that can be calibrated to each other through any plate structure 120 of the sensor calibration device 100. Therefore, the sensor calibration device 100 of the present disclosure can be The adjustment is made according to the calibration requirements, and the application flexibility is large, and it helps to improve the convenience of the calibration of the body scanner 200.

FIG. 8 is a perspective view of the sensor calibration device 100 according to some embodiments of the disclosure. In some embodiments, the sensor calibration device 100 further has a marking structure 180. The marking structure 180 may extend from the edge of the rod 110 or the plate structure 120 or be coupled to the edge of the rod 110 or the plate structure 120. Specifically, the marking structure 180 can extend in any direction and have a known length. In addition, the length of the marking structure 180 allows the user to calculate the required size information during the calibration process, thereby helping to improve the accuracy of the calibration. In some other embodiments, the sensor calibration device 100 has a marking pattern 182 printed on the plate structure 120. The marking pattern 182 may extend in any direction and have a known length. The marking pattern 182 has a function similar to that of the marking structure 180 and can be used interchangeably with the marking structure 180.

As shown in Figure 8, in some embodiments, the sensor calibration device 100 further has a pneumatic rod 160 and a sliding rail 170, which are arranged to slidably fix the rod body 110 and the fixed end 102 of the plate structure 120 (that is, located at The bottom end of the rod 110 and the end of the plate structure 120). For example, in this embodiment, the sensor calibration device 100 can be stored in the box 300, so the air pressure rod 160 and the slide rail 170 can be fixed to the bottom or inner wall of the box 300. The pneumatic rod 160 is provided to assist the user to unfold the rod 110 and the plate structure 120 in the first direction D1, and to cushion the force of the user to fold the rod 110 and the plate structure 120 in the second direction D2. As shown in FIG. 8, in this embodiment, the fixed end 102 is connected to the slide rail 170 through the sliding block 106. when During the unfolding or folding process of the sensor calibration device 100, the fixed end 102 can move in the slide rail 170 through the slider 106. In this way, the process of unfolding or folding the sensor calibration device 100 can be made smoother.

In addition, the sensor calibration device 100 also 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 inner wall of the box body 300, and the other end is pivotally connected to the rod body 110. When the sensor calibration device 100 is being unfolded or folded, the connecting rod 104 and the corresponding pivoted rod 110 rotate in opposite directions, so that the rod 110 is rotatably fixed to the box 300 during the sliding process.

FIG. 9 is a schematic diagram of the sensor calibration device 100 stored in the box 300 according to some embodiments of the disclosure. In this embodiment, when the rod body 110 and the plate structure 120 are folded to the state shown in Figure 7, the box 300 can be used to store and carry the sensor calibration device 100, adding a sensor calibration device 100 storage convenience.

FIG. 10 is a schematic diagram of the sensor calibration device 100 hanging upside down on the ceiling according to some embodiments of the disclosure. In this embodiment, the fixed end 102 of the sensor calibration device 100 can 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 device 100 from the ceiling to the floor to a desired height. In some embodiments, as shown in Figure 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 device 100 according to some embodiments of the disclosure. In this embodiment, the sensor calibration device 100 also has a handle 190, which is coupled to two sets of sensor calibration devices 100 in parallel Between the rods 110. In this way, the user can simultaneously unfold or fold the rods 110 and the plate structure 120 of the two sets of sensor calibration equipment 100 at the same time through the handle 190, which increases the convenience of unfolding and folding the sensor calibration equipment 100.

In summary, the sensor calibration device 100 of the present disclosure can be effectively folded to save storage space. In addition, the user can easily and steadily expand or fold the sensor calibration device 100 according to actual needs to change the overall height, which helps to improve the convenience of calibration of the sensor 210 (see Figure 1) of the body scanner 200 .

Although the present invention has been disclosed in the above embodiments, it is not intended to limit the present invention. Anyone who is familiar with this technique can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection of the present invention The scope shall be subject to those defined in the attached patent scope.

100‧‧‧Sensor calibration equipment

102‧‧‧Fixed end

110‧‧‧Pole

120‧‧‧Plate structure

160‧‧‧Pneumatic lever

170‧‧‧Slide rail

200‧‧‧Body Scanner

210‧‧‧Sensor

D1‧‧‧First direction

D2‧‧‧Second direction

D3‧‧‧ Third party

Claims (9)

A sensor calibration equipment, comprising: a plurality of rods, and the rods are pivotally connected to each other; a plurality of plate-like structures, each having a first side, a second side adjacent to the first side, and a first side On three sides, the first sides of the plate-shaped structures are pivotally connected to the rod bodies, and the second side of one of the two adjacent plate-shaped structures and the third side of the other The sides are pivotally connected to each other, and when a force in a first direction or a second direction is applied to one of the plate-shaped structures and the rods, the rods and the plate-shaped structures move toward the first Expand in the direction or fold in the second direction; and a marking pattern is located on one of the plate-shaped structures and is arranged to provide a size information. The sensor calibration device according to claim 1, wherein the two ends of each of the rods have an extension, and the two extensions of the adjacent two of the rods are opposite to each other, the sensor The calibration device further includes: a first rotating shaft passing through the two adjacent extensions of the rods. The sensor calibration device according to claim 1, wherein each of the plate-shaped structures has an extension, and the two adjacent extensions of the two adjacent plate-shaped structures are opposite to each other, and the sensor is calibrated The device also includes: a second rotating shaft that passes through two adjacent ones of the plate-shaped structures Two extensions. The sensor calibration device according to claim 1, wherein when the plate-like structures are unfolded, the first side of one of the plate-like structures corresponds to the rod body pivotally connected to the plate-like structure staggered. The sensor calibration device according to claim 1, wherein when the plate-shaped structures are folded, the first sides of the plate-shaped structures are substantially parallel to the rods. The sensor calibration device according to claim 1, wherein when the plate-shaped structures are unfolded or folded, the rotation direction of each of the plate-shaped structures is opposite to the corresponding rod. The sensor calibration device according to claim 1, wherein the distance between the second side of each of the plate-like structures and the third side of another adjacent one is substantially equal. The sensor calibration device according to claim 1, wherein each of the rods has a first end and a second end opposite to each other, and the first end of each of the rods is adjacent to another The distances between the second ends are approximately equal. The sensor calibration device according to claim 1, further comprising: a marking structure, from one of the rods or the plate-like structures Those are extended to provide a size information.

Images