CN107015211A - Detector test system - Google Patents
Detector test system Download PDFInfo
- Publication number
- CN107015211A CN107015211A CN201710318458.5A CN201710318458A CN107015211A CN 107015211 A CN107015211 A CN 107015211A CN 201710318458 A CN201710318458 A CN 201710318458A CN 107015211 A CN107015211 A CN 107015211A
- Authority
- CN
- China
- Prior art keywords
- detector
- photosensitive components
- light beam
- detection plate
- microcontroller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012360 testing method Methods 0.000 title claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 81
- 230000000052 comparative effect Effects 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 3
- 230000023077 detection of light stimulus Effects 0.000 claims description 2
- 241000209094 Oryza Species 0.000 description 11
- 235000007164 Oryza sativa Nutrition 0.000 description 11
- 235000009566 rice Nutrition 0.000 description 11
- 230000004888 barrier function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 238000007689 inspection Methods 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 235000013399 edible fruits Nutrition 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The embodiment of the present invention provides a kind of detector test system, including：It is arranged on the detector on carrying carrier, the detection plate placed towards detector, display module；Many set detecting devices are provided with detection plate, the photosensitive components, comparator, microcontroller being sequentially connected are included per set detecting device.For every set detecting device：Photosensitive components are used for the light beam for detecting detector transmitting, and the corresponding detection voltage of light beam that determination is detected；One input of comparator is connected with reference voltage, the output end connection of another input and photosensitive components, for comparison reference voltage and detection voltage, exports comparative result indication signal；Microcontroller is used to be shown for indicating that can corresponding photosensitive components detect the configured information of the transmitting light beam of detector according to comparative result indication signal Control Items, make it possible to intuitively find out the altitude range that detector is able to detect that in the case where being currently installed on angle, to be adjusted the setting angle of detector based on this.
Description
Technical field
The present invention relates to technical field of electrical measurement, more particularly to a kind of detector test system.
Background technology
In recent years, deepened continuously with the development and artificial intelligence study of robot technology, intelligent mobile robot is in people
Play the part of more and more important role in class life, be used widely in numerous areas.
Intelligent mobile robot is that a class can be real now with barrier by sensor senses environment and oneself state
Object-oriented independent navigation motion in environment, so as to complete the robot system of preplanned mission.Therefore, obstacle avoidance system is intelligence
The indispensable key element of mobile robot.Usually, avoidance is the detection based on the multiple avoidances configured on intelligent mobile robot
Device realizes that the barrier can be uneven state or some objects on ground to detect barrier.Its
In, the detector is such as lidar detectors etc..
These detectors often have certain angular deviation, such as the center of some lidar detectors when dispatching from the factory
The angle precision of axle is at ± 3 ° or so.Under the influence of the angular deviation, when installing detector, it is thus necessary to determine that detector is in machine
Setting angle with device is man-machine, i.e., constantly adjust the setting angle, to ensure that detector is able to detect that apart from robot one
Determine the barrier of the certain altitude scope at horizontal range.Accordingly, it would be desirable to which testing detector can detect under certain setting angle
The altitude range arrived, to carry out the adjustment of detector setting angle, to meet detection demand.
The content of the invention
In view of this, the embodiment of the present invention provides a kind of detector test system, to test detector in certain current peace
The obstacle height scope being able to detect that under dress angle, in order to which the setting angle of accurate adjustment detector is default to meet
Detection demand.
The embodiment of the present invention provides a kind of machine testing device test system, including：
It is arranged on the detector on carrying carrier, the detection plate placed towards the detector, and display module；
Many set detecting devices are provided with the detection plate, the photosensitive components that include being sequentially connected per set detecting device,
Comparator, microcontroller；
The photosensitive components, the light beam for detecting the detector transmitting, and the corresponding inspection of light beam that determination is detected
Survey voltage；
One input of the comparator is connected with reference voltage, another input of the comparator with described photosensitive group
The output end connection of part, for comparing the reference voltage and the detection voltage, exports comparative result indication signal；
The microcontroller, for controlling the display module to show for indicating according to the comparative result indication signal
Can the corresponding photosensitive components detect the configured information of the light beam of the detector transmitting.
Detector test system provided in an embodiment of the present invention, for being arranged on carrying carrier ratio with certain setting angle
Altitude range as the detector in robot is currently able to detect is measured.Specifically, setting one includes multigroup inspection
The detection plate and display module of device are surveyed, in actual test, detection plate includes a face vertical plane of many set detecting devices
Placed to detector.The photosensitive components being sequentially connected, comparator, microcontroller, every group of detection are set in every set detecting device
The photosensitive components of device are different with respect to the height on ground.Detector launches light beam, passes through the photosensitive components in each set detecting device
The light beam of detector transmitting can be detected, the corresponding detection voltage of the light beam detected is may thereby determine that, based on each group inspection
The result that corresponding detection voltage is compared by the comparator surveyed in device with parameter voltages, it may be determined which photosensitive components
The light beam of detector transmitting is detected, so that, comparison knot of the microcontroller based on correspondence comparator in each set detecting device
Fruit Control Items are shown for indicating that can corresponding photosensitive components detect the configured information that detector launches light beam, are made
The altitude range that detector is able to detect that in the case where being currently installed on angle can intuitively be found out by obtaining installation personnel, so as to based on this
Altitude range is adjusted to the setting angle of detector, until being able to detect that default effective depth scope.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of detector test system embodiment one provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of optional detection plate in embodiment illustrated in fig. 1；
Fig. 3 is a kind of corresponding circuit composition schematic diagram of embodiment illustrated in fig. 2；
Fig. 4 is the structural representation of another optional detection plate in embodiment illustrated in fig. 1；
Fig. 5 is a kind of corresponding circuit composition schematic diagram of embodiment illustrated in fig. 4；
Fig. 6 is the schematic diagram of detector test system embodiment two provided in an embodiment of the present invention；
Fig. 7 is the schematic diagram of detector test system embodiment three provided in an embodiment of the present invention.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The term used in embodiments of the present invention is the purpose only merely for description specific embodiment, and is not intended to be limiting
The present invention." one kind ", " described " and "the" of singulative used in the embodiment of the present invention and appended claims
It is also intended to including most forms, unless context clearly shows that other implications, " a variety of " generally comprise at least two, but not
Exclude and include at least one situation.
It should be appreciated that term "and/or" used herein is only a kind of incidence relation for describing affiliated partner, represent
There may be three kinds of relations, for example, A and/or B, can be represented：Individualism A, while there is A and B, individualism B these three
Situation.In addition, character "/" herein, it is a kind of relation of "or" to typically represent forward-backward correlation object.
It will be appreciated that though XXX may be described using term first, second, third, etc. in embodiments of the present invention, but
These XXX should not necessarily be limited by these terms.These terms are only used for XXX being distinguished from each other out.For example, not departing from implementation of the present invention
In the case of example scope, the first XXX can also be referred to as the 2nd XXX, similarly, and the 2nd XXX can also be referred to as the first XXX.
Depending on linguistic context, word as used in this " if ", " if " can be construed to " ... when " or
" when ... " or " in response to determining " or " in response to detection ".Similarly, depending on linguistic context, phrase " if it is determined that " or " such as
Fruit detection (condition or event of statement) " can be construed to " when it is determined that when " or " in response to determine " or " when detection (statement
Condition or event) when " or " in response to detection (condition or event of statement) ".
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising, so that commodity or system including a series of key elements not only include those key elements, but also including without clear and definite
Other key elements listed, or also include for this commodity or the intrinsic key element of system.In the feelings of not more limitations
Under condition, the key element limited by sentence "including a ...", it is not excluded that in the commodity or system including the key element also
There is other identical element.
Before detector test system provided in an embodiment of the present invention is introduced, illustrate why to adjust detector first
Setting angle.
So that detector is lidar detectors as an example, such as when dispatching from the factory, the angle of the central shaft of lidar detectors
Precision is at ± 3 ° or so.The barrier that the angular deviation often influences detector to be able to detect that at varying level distance is high
Spend scope.Because if detector does not have angular deviation, its detection beam direction launched is level, if it is desired to detect 20
The barrier of cm height, then detector only need to be arranged on the position on robot fuselage apart from 20 centimetres of ground.But
It is, due to the presence of the angular deviation, if it is desired to detect the barrier of 20 cm heights that may then need to install detector
Apart from the position on 50 centimetres of ground on robot fuselage, specific setting height(from bottom) need to combine and require what detector was able to detect that
The horizontal range of obstacle distance robot determines that horizontal range is more remote, then because setting height(from bottom) caused by the angular deviation need to
It is higher.And detector is for assemble stable and the objective demand of the relatively low object of detection in practical application, it is impossible to install this
High, in some cases, robot fuselage height may can not all meet the requirement for height.Therefore, in actual applications, often
Need detector being installed on robot fuselage at certain position of ground lower height, i.e., fixed detector is in robot
Setting height(from bottom) on fuselage, now, then needs to guarantee inspection by adjusting detector with respect to the setting angle of central shaft
Measure the barrier of certain predetermined altitude range.
Below, with reference to examples below introduction：When detector is currently arranged in robot with some setting angle,
How to measure altitude range that current detector can be detected, at robot certain level distance, in order to based on
The altitude range measured and the difference of preset height scope, adjust the setting angle of detector.
Fig. 1 is the schematic diagram of detector test system embodiment one provided in an embodiment of the present invention, as shown in figure 1, this is
System includes：
It is arranged on the detector 11 on carrying carrier 1, the detection plate 2 placed towards detector 11, and display module 3.
Alternatively, based on different application scenarios, the carrying carrier 1 can be different, with robot in the embodiment of the present invention
Exemplified by.In order to meet in certain application scenarios, robot is to the detection demand of obstacle height, and detector 11 is in robot fuselage
On installation site be that height and position apart from level ground can be fixed, such as when the obstacle height for needing to detect is big
About in the height of 30 cms, detector 11 can be fixedly installed on robot fuselage apart from 30 centimetres of level ground certain
At position.
Also assume that in the application scenarios, it is desirable to which detector 11 is able to detect that apart from robot horizontal range be L meters
The barrier of left and right, then due to the presence of the intrinsic angular deviation of the detector, when detector 11 is in preferable setting angle,
Assuming that on the perpendicular at L rice, the light beam that detector 11 is launched should cover 30 ± 10 centimetres of scope.So as to this reality
Apply in example, if detecting altitude range that the light beam that detector 11 launched with current certain setting angle covers at L rice not
In the range of this is 30 ± 10 centimetres, then illustrate that setting angle now is undesirable, it is necessary to adjust, until being adjusted to it at L meters
The height coverage of the transmitting light beam at place is in the range of 30 ± 10 centimetres.
Based on this, the height model that the light beam launched for test detector 11 with certain current setting angle is covered at L rice
Enclose, present embodiments provide a detection plate 2 for including many set detecting devices 21, and display module 3.Wherein, detection plate 2
On many set detecting devices 21 be used for detect can detect detector 11 transmitting light beam, display module 3 be used for show
The light beam of the transmitting of detector 11 is detected at what height and position.Detection plate 2 can be implemented as pcb board.
Specifically, during actual test, detection plate 2 can be placed on to the position that the horizontal range of distance detector 11 is L meters,
And placed including the one of many set detecting devices 21 vertically facing to detector 11.As shown in figure 1, many set detecting devices 21
Sorted along its length on a surface of detection plate 2, and many set detecting devices 21 can be equidistantly distributed on the surface
On.
Specifically, the photosensitive components 211, comparator 212, microcontroller being sequentially connected are included per set detecting device 21
213.Wherein：
Photosensitive components 211, for detecting the light beam that detector 11 is launched, and determine that the corresponding detection of light beam detected is electric
Pressure.
One input of comparator 212 is connected with reference voltage, and another input of comparator is defeated with photosensitive components 211
Go out end connection, for comparison reference voltage and detection voltage, export comparative result indication signal；
Microcontroller 213, for being shown according to comparative result indication signal Control Items 3 for indicating corresponding light
Can quick component 211 detect the configured information of the light beam of the transmitting of detector 11.
As shown in Figure 2 and Figure 4, photosensitive components 211, comparator 212, microcontroller can be included in every set detecting device 21
213.In the embodiment of the present invention, alternatively, display module 3 can be implemented as and the one-to-one indicator lamp of every set detecting device
31, as shown in Figure 2；Or, the display module 3 can also be embodied as host computer 32, as shown in Figure 4.Wherein, such as Fig. 3 and Fig. 5 institutes
Show, alternatively, photosensitive components 211 can be implemented as the series circuit of photodiode and a resistance, and photodiode can be examined
The light beam wavelength that the light beam wavelength measured is launched with detector 11 is matched.
The height for how determining that the light beam that detector 11 is launched is covered at L rice is introduced with Fig. 2 and embodiment illustrated in fig. 3
Scope.Because detection plate 2 is placed, each self-corresponding photosensitive components 211 of many set detecting devices 21 thereon in face of detector 11
The light beam of the detector 11 transmitting can be detected.It is understood that being located at covering for the light beam that detector 11 is launched in detection plate 2
Photosensitive components 211 in the range of lid are able to detect that the light beam that detector 11 is launched, and photosensitive components being outside the range
211 will can't detect the light beam.So as to for the photosensitive components 211 for detecting light beam, due to photodiode therein
Corresponding current signal can be exported based on the beam intensity detected, the effect based on resistance can change current signal
For voltage signal, so as to obtain detection voltage corresponding with the light beam detected.And for can't detect photosensitive group of the light beam
For part 211, it may be only capable of the light for detecting external environment, likewise it is possible to the external environmental light for obtaining and detecting
The corresponding detection voltage of line.
Afterwards, the detection voltage that each photosensitive components 211 are obtained is transferred to corresponding comparator 212, the base of comparator 212
In the comparison of detection voltage and default reference voltage, comparative result indication signal is exported.It is understood that the comparative result
Indication signal is the equal of binary signal as 0,1.Photosensitive components for being able to detect that the light beam that detector 11 is launched
For 211, its obtained detection voltage will be typically higher than reference voltage, and the comparative result that respective comparator 212 is exported indicates letter
Number such as it is 1, for the photosensitive components 211 for the light beam that can't detect the transmitting of detector 11, its obtained detection
Voltage can typically be less than reference voltage, and the comparative result indication signal that respective comparator 212 is exported such as is 0.So as to respectively compare
The comparative result indication signal Control Items 3 that the microcontroller 213 that device 212 is each connected can be received according to itself show phase
The configured information answered, the configured information is used to indicate that can its corresponding photosensitive components 211 detect the light of the transmitting of detector 11
Beam.
In the embodiment depicted in figure 2, display module 3 is implemented as multiple indicator lamps 31, this multiple indicator lamp 31 with it is many
Set detecting device 21 is corresponded.That is, the display module 3 can be implemented as the instruction being connected with each microcontroller 213
Lamp 31, now, each microcontroller 213 are used for the dispaly state that corresponding indicator lamp 31 is controlled according to comparative result indication signal,
The dispaly state can be light on and off state, or display color.Specifically, if the ratio that some microcontroller 213 is received
It is 1 compared with result indicative signal, then corresponding indicator lamp 31 can be controlled bright, if its comparative result indication signal received is
0, then corresponding indicator lamp 31 can be controlled to go out.
In addition, for the ease of intuitively knowing height coverage of the transmitting light beam of detector 11 at L rice, Ke Yi
Scale is set in detection plate 2, and each photosensitive components 211 can correspond to a scale value, and can set each indicator lamp 31 with
Each self-corresponding photosensitive components correspond to identical graduation value.Assuming that the scale in detection plate 2 close to certain of ground to put as origin,
Be incremented by scale to the direction away from ground, then, can be with based on the scale corresponding to the indicator lamp 31 in bright state in detection plate 2
It is determined that at L rice detector 11 transmitting light beam height coverage.In foregoing citing, ideally, this highly covers
Lid scope should be in the range of 30 ± 10 centimetres, if the height coverage actually determined is covered with the preferable height
Scope is not inconsistent, then explanation needs to adjust the setting angle of detector 11.Such as, if the height coverage phase actually determined
Offset up for the preferable height coverage, then the setting angle for adjusting detector 11 is offset downward；Such as fruit
The height coverage that border is determined is offset downward relative to the preferable height coverage, then adjusts the installation of detector 11
Angle is offset up.
The height for how determining that the light beam that detector 11 is launched is covered at L rice is introduced with Fig. 4 and embodiment illustrated in fig. 5 again
Spend scope.From unlike Fig. 2 and embodiment illustrated in fig. 3, the display module 3 is also implemented as host computer 32, the host computer
32 be that many set detecting devices 21 are shared, the signal carried out in such as Fig. 5 by taking two detection means as an example.Now, every group of detection dress
The communication interface 214 for also including being connected with microcontroller 213 in 21 is put, for being communicated with host computer 32.
Preset detection plate image can be shown in host computer 32, multigroup detection dress is shown in the preset detection plate image
Put 21 in detection plate 2 each self-corresponding scale, and each self-corresponding designator of many set detecting devices 21.In simple terms,
It is to generate each detection means 21 reflected in piece image, the image in detection plate 2 previously according to detection plate 2 (actually to lead
Refer to photosensitive components 211) the corresponding scale value in detection plate 2, and associated in the images for each detection means 21
A upper designator, for indicating whether the detection means detects the light beam of the transmitting of detector 11.
Based on this, when according to foregoing description, when the microcontroller 213 in each detection means 21 receives corresponding comparator
After the 212 comparative result indication signals sent, microcontroller 213 is additionally operable to according to the comparative result indication signal, passes through correspondence
Communication interface 214 sent to host computer 32 and show configured information, the display configured information includes the correspondence of microcontroller 213
Detection means 21 mark.It is which detection means 21 detects the light beam that detector 11 is launched that the mark, which is used to characterize,.
So as to which the display configured information that host computer 32 is used to be sent according to each microcontroller 213 received adjusts corresponding designator
Dispaly state, such as adjust designator display color, such as green represent detect, red represent do not detect.
In this way, what can be gone out based on the interface display of host computer 32 is filled with the color of the corresponding designator of each detection means 21 and each detection
Put 21 in detection plate 2 corresponding scale determine height coverage of the transmitting light beam of current detector 11 at L rice.
In addition, when needing installation personnel to manually adjust the setting angle of detector 11, can for the ease of installation personnel
Intuitively the display result based on host computer 32, which is known, adjust upwards or downwards the setting angle of detector 11, optional
In ground, the above-mentioned preset detection plate image in host computer 32, the transmitting with ideally detector 11 can also be shown
Height coverage of the light beam at L rice relative to display effect, effective display location scope is referred to as in the present embodiment.
In order to show effective display location scope, first it is to be understood that what effective display location scope is.Specifically,
When the height and position of installation of the detector 11 on carrying carrier such as robot fuselage is determined, it is necessary to which detector 11 is in level
In the case that upper effective detection distance is determined, effective display location scope can be calculated.So as to host computer 32
It is additionally operable to：Preset height and the level of significance of detector 11 that the detector 11 of reception user's input is located on carrying carrier 1
Detecting distance, and then according to the preset height, level of significance detecting distance and the corresponding predetermined angle deviation of detector 11, really
Effective display location scope is made, and shows in preset detection plate image effective display location scope.Wherein, host computer
Above-mentioned predetermined angle deviation can be previously stored with 32.The method for calculating effective display location scope is exactly simple triangle
Calculating process, will not be described here.
So as to, based in the preset detection plate image in host computer 32 it is shown go out above-mentioned effective display location scope with
And the dispaly state of the corresponding designator of each detection means 21, the light beam that the detector 11 that can visually see currently is launched is in L
The deviation of height coverage and the ideal height coverage characterized by effective display location scope at rice, in order to base
The adjustment of the setting angle of detector 11 is carried out in the deviation.
To sum up, detector test system provided in an embodiment of the present invention, for being arranged on carrying with certain setting angle
The altitude range that detector in carrier such as robot is currently able to detect is measured, in order to based on measurement result pair
The setting angle of detector is adjusted.Specifically, by setting a detection plate for including many set detecting devices and display
Component, in actual test, the one side that detection plate includes many set detecting devices is vertical towards detector placement.In every group of detection
Dress centers the photosensitive components being sequentially connected, comparator, microcontroller, and the photosensitive components per set detecting device are with respect to ground
Height is different.Detector launches light beam, and the light that detector is launched can be detected by the photosensitive components in each set detecting device
Beam, may thereby determine that the corresponding detection voltage of the light beam detected, will be corresponding based on the comparator in each set detecting device
The result that detection voltage is compared with parameter voltages, it may be determined which photosensitive components detects the light of detector transmitting
Beam, so that, comparative result Control Items of the microcontroller based on correspondence comparator in each set detecting device, which are shown, to be used for
Indicate that can corresponding photosensitive components detect the configured information that detector launches light beam so that installation personnel can be intuitively
Go out the altitude range that detector is able to detect that in the case where being currently installed on angle, so as to the installation based on the altitude range to detector
Angle is adjusted, until being able to detect that default effective depth scope.
Fig. 6 is the schematic diagram of detector test system embodiment two provided in an embodiment of the present invention, as shown in fig. 6, in Fig. 4
On the basis of illustrated embodiment, the system also includes：
The adjustment structure 12 being connected with detector 11, and with the controller 13 that be connected of adjustment structure 12, host computer 32 and
Controller 13 is communicated to connect.
Host computer 32, if being additionally operable to determine that the corresponding meter full scale of default dispaly state surpasses according to the dispaly state of designator
Go out effective display location scope, then sending adjustment to controller 13 indicates.
Controller 13, for indicating adjustment adjustment structure 12 according to adjustment, to adjust the relative carrying carrier 1 of detector 11
Setting angle.
In the present embodiment, in order to realize the setting angle to detector 11 on the carrying such as robot fuselage of carrier 1
Adjust automatically, can set an adjustment structure 12, and the adjustment structure 12 is a rotatable structure, and detector 11 is placed in into this
Adjust in structure 12.
So as to based on the explanation in previous embodiment, show when host computer 32 determines to preset according to the dispaly state of designator
Show the corresponding meter full scale of state, that is, determine height coverage of the light beam of the transmitting of current detector 11 at L rice, and base
Adjustment is sent in the deviation of the relatively above-mentioned effective display location scope of the height coverage to controller 13 to indicate, to cause control
Device 13 processed indicates adjustment adjustment structure 12 according to the adjustment, to adjust the setting angle of the relative carrying carrier 1 of detector 11.Than
Such as, if the height coverage actually determined is offset up relative to effective display location scope, to controller 13
Send the instruction for offseting downward adjustment；If the height coverage actually determined relative to effective display location scope to
Lower skew, then send the instruction for offsetting up adjustment to controller 13.
Based on the present embodiment, it is possible to achieve the automation to the setting angle of detector is adjusted.
Fig. 7 is the schematic diagram of detector test system embodiment three provided in an embodiment of the present invention, as shown in fig. 7, in Fig. 3
Or on the basis of embodiment illustrated in fig. 5, by taking embodiment illustrated in fig. 3 as an example, also include in every set detecting device 21：
The filter 215 being placed in before photosensitive components 211, exceeds the corresponding transmitting light beam wavelength of detector 11 for filtering out
Light, and,
The convex lens 216 being placed between filter 215 and photosensitive components 211, photosensitive components 211 are located at Jiao of convex lens 216
Point position.
In the present embodiment, in order to improve accuracy of detection, sensitivity and the noise immunity of photosensitive components 211, it is to avoid ambient light
The influence that line is detected to photosensitive components 211, can set filter 215 before photosensitive components 211, and the filter 215 is super for filtering out
Go out the light of the wavelength of light of the transmitting of detector 11.In addition, the accuracy of detection in order to strengthen photosensitive components 211, can also be in filter
Convex lens 216 are set between mirror 215 and photosensitive components 211, is collected and amplifies with the light after being filtered out to filter 215.
System embodiment described above is only schematical, wherein the unit illustrated as separating component can
To be or may not be physically separate, the part shown as unit can be or may not be physics list
Member, you can with positioned at a place, or can also be distributed on multiple NEs.It can be selected according to the actual needs
In some or all of module realize the purpose of this embodiment scheme.Those of ordinary skill in the art are not paying creativeness
Work in the case of, you can to understand and implement.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention is described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (7)
1. a kind of detector test system, it is characterised in that including：
It is arranged on the detector on carrying carrier, the detection plate placed towards the detector, and display module；
Many set detecting devices are provided with the detection plate, the photosensitive components that include being sequentially connected per set detecting device, are compared
Device, microcontroller；
The photosensitive components, for detecting the light beam of the detector transmitting, and determine that the corresponding detection of light beam detected is electric
Pressure；
One input of the comparator is connected with reference voltage, another input and the photosensitive components of the comparator
Output end is connected, and for comparing the reference voltage and the detection voltage, exports comparative result indication signal；
The microcontroller, for controlling the display module to show for indicating correspondence according to the comparative result indication signal
The photosensitive components can detect detector transmitting light beam configured information.
2. system according to claim 1, it is characterised in that be provided with scale in the detection plate；
The display module includes：
Multiple indicator lamps, the multiple indicator lamp is corresponded with many set detecting devices；
The microcontroller, the dispaly state for controlling corresponding indicator lamp according to the comparative result indication signal.
3. system according to claim 1, it is characterised in that also include in every set detecting device：With the micro-control
The communication interface of device connection processed；
The display module includes：Preset detection plate image, the preset detection plate figure are shown in host computer, the host computer
Many set detecting devices each self-corresponding scale in the detection plate is shown as in, and many set detecting devices are each
Self-corresponding designator；
The microcontroller, for according to the comparative result indication signal, by corresponding communication interface to the host computer
Send and show configured information, the display configured information includes the mark of the corresponding detection means of the microcontroller；
The host computer, the dispaly state for adjusting corresponding designator according to the display configured information.
4. system according to claim 3, it is characterised in that the host computer is additionally operable to：
Receive the detector of user's input on the carrying carrier preset height that is located at and the detector it is effective
Horizontal detecting distance；
According to the preset height, the level of significance detecting distance and the corresponding predetermined angle deviation of the detector, really
Fixed effective display location scope, and show in the preset detection plate image effective display location scope.
5. system according to claim 4, it is characterised in that the system also includes：
The adjustment structure being connected with the detector, and the controller being connected with the adjustment structure, the host computer and institute
State controller communication connection；
The host computer, if being additionally operable to determine the corresponding meter full scale of default dispaly state according to the dispaly state of the designator
Beyond effective display location scope, then send adjustment to the controller and indicate；
The controller, it is relatively described to adjust the detector for being indicated to adjust the adjustment structure according to the adjustment
Carry the setting angle of carrier.
6. system according to any one of claim 1 to 5, it is characterised in that also include in every set detecting device：
The filter being placed in before the photosensitive components, the light of the corresponding transmitting light beam wavelength of the detector is exceeded for filtering out
Line.
7. system according to claim 6, it is characterised in that also include in every set detecting device：
The convex lens being placed between the filter and the photosensitive components, the photosensitive components are located at the focus position of the convex lens
Put.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710318458.5A CN107015211B (en) | 2017-05-08 | 2017-05-08 | Detector test system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710318458.5A CN107015211B (en) | 2017-05-08 | 2017-05-08 | Detector test system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107015211A true CN107015211A (en) | 2017-08-04 |
| CN107015211B CN107015211B (en) | 2023-05-26 |
Family
ID=59449430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710318458.5A Active CN107015211B (en) | 2017-05-08 | 2017-05-08 | Detector test system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107015211B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134319A1 (en) * | 2020-12-23 | 2022-06-30 | 必虎嘉骁光电技术(重庆)有限公司 | Laser ranging apparatus |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4676634A (en) * | 1985-08-05 | 1987-06-30 | Spectra-Physics, Inc. | Detector device for a rotating light beam |
| CN104792259A (en) * | 2014-01-16 | 2015-07-22 | 波音公司 | Laser metrology system and method |
| CN106054276A (en) * | 2015-04-13 | 2016-10-26 | 洛克威尔自动控制安全公司 | Flight time safety optoelectronic barrier and method for monitoring protective region |
| CN206725751U (en) * | 2017-05-08 | 2017-12-08 | 上海木爷机器人技术有限公司 | Detector test system |
-
2017
- 2017-05-08 CN CN201710318458.5A patent/CN107015211B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4676634A (en) * | 1985-08-05 | 1987-06-30 | Spectra-Physics, Inc. | Detector device for a rotating light beam |
| CN104792259A (en) * | 2014-01-16 | 2015-07-22 | 波音公司 | Laser metrology system and method |
| CN106054276A (en) * | 2015-04-13 | 2016-10-26 | 洛克威尔自动控制安全公司 | Flight time safety optoelectronic barrier and method for monitoring protective region |
| CN206725751U (en) * | 2017-05-08 | 2017-12-08 | 上海木爷机器人技术有限公司 | Detector test system |
Non-Patent Citations (1)
| Title |
|---|
| 陈多飞;钟加杰;陈荣;: "太阳光入射方向的检测与太阳能电池板方位控制系统" * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022134319A1 (en) * | 2020-12-23 | 2022-06-30 | 必虎嘉骁光电技术(重庆)有限公司 | Laser ranging apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107015211B (en) | 2023-05-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5057820A (en) | Optical warning system | |
| CN108090990A (en) | Intelligent inspection system and robot | |
| CN100425959C (en) | Infrared source heat image detecting method | |
| CN103427366B (en) | For controlling the real-time locus dynamic measurement method of the Helicopter loading system of identifying transmission line of electricity | |
| CN103399298A (en) | Device and method for positioning multiple sensors in room on basis of light intensity | |
| CN102694351A (en) | High voltage overhead transmission line line-inspection unmanned aerial vehicle photoelectric detection device | |
| US20170094750A1 (en) | Lighting system that self detects the relative physical arrangement of its sources | |
| CN106020218B (en) | A kind of the hovering method for testing precision and system of unmanned plane | |
| US7119316B2 (en) | Strobe light and laser beam detection for laser receiver | |
| US20140333291A1 (en) | Method and apparatus for identifying locations of solar panels | |
| CN114993263A (en) | High accuracy building unmanned aerial vehicle survey and drawing system based on leveling point location | |
| CN206725751U (en) | Detector test system | |
| CN107015211A (en) | Detector test system | |
| CN209281254U (en) | A kind of power patrol unmanned machine system | |
| CN207601310U (en) | A kind of jamproof range unit | |
| CN104105640A (en) | Mobile device for checking airport runway lights | |
| CN208580324U (en) | A kind of plant machinery state networking monitoring apparatus and system | |
| CN110285829A (en) | A kind of geographical calibration distance measuring method of single station optical servo monitoring | |
| CN112764430B (en) | Unmanned aerial vehicle grounding judgment method and device, medium, electronic equipment and unmanned aerial vehicle | |
| CN204788256U (en) | Remote benchmark laser displacement sensor | |
| CN114063094A (en) | Photoelectric sensor based laser sensing distance method and photoelectric sensor | |
| US11005677B2 (en) | System and method for controlling building systems engineering | |
| CN207396667U (en) | Ultraviolet partial discharge number of photons detection device based on laser radar range compensation | |
| CN207147496U (en) | A kind of indoor unmanned plane alignment system | |
| ITMI20120409A1 (en) | DEVICE FOR MEASURING AND MONITORING SOLAR RAYS ACCIDENTS ON A PHOTOVOLTAIC MODULE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai Noah Wood Robot Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai zhihuilin Medical Technology Co.,Ltd. Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: SHANGHAI MUYE ROBOT TECHNOLOGY Co.,Ltd. Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai zhihuilin Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: Shanghai Zhihui Medical Technology Co.,Ltd. Address after: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant after: Shanghai Zhihui Medical Technology Co.,Ltd. Address before: 200336 402 rooms, No. 33, No. 33, Guang Shun Road, Shanghai Applicant before: SHANGHAI MROBOT TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Detector testing system Granted publication date: 20230526 Pledgee: CITIC Bank Limited by Share Ltd. Shanghai branch Pledgor: Shanghai Noah Wood Robot Technology Co.,Ltd. Registration number: Y2024310000751 |