CN107015211B - Detector test system - Google Patents
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- CN107015211B CN107015211B CN201710318458.5A CN201710318458A CN107015211B CN 107015211 B CN107015211 B CN 107015211B CN 201710318458 A CN201710318458 A CN 201710318458A CN 107015211 B CN107015211 B CN 107015211B
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- 238000001514 detection method Methods 0.000 claims abstract description 112
- 238000009434 installation Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 6
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- 238000005259 measurement Methods 0.000 description 2
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- 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
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Abstract
An embodiment of the present invention provides a detector testing system, including: a detector disposed on the carrier, a detection plate disposed facing the detector, and a display assembly; the detection board is provided with a plurality of groups of detection devices, and each group of detection devices comprises a photosensitive component, a comparator and a microcontroller which are sequentially connected. For each set of detection devices: the photosensitive component is used for detecting the light beam emitted by the detector and determining the detection voltage corresponding to the detected light beam; one input end of the comparator is connected with the reference voltage, the other input end of the comparator is connected with the output end of the photosensitive component and is used for comparing the reference voltage with the detection voltage and outputting a comparison result indicating signal; the microcontroller is used for controlling the display component to display indication information for indicating whether the corresponding photosensitive component can detect the emitted light beams of the detector according to the comparison result indication signal, so that the height range which can be detected by the detector under the current installation angle can be intuitively seen, and the installation angle of the detector can be adjusted based on the height range.
Description
Technical Field
The invention relates to the technical field of electrical measurement, in particular to a detector testing system.
Background
In recent years, with the development of robot technology and the continuous and intensive research of artificial intelligence, intelligent mobile robots play an increasingly important role in human life and are widely applied in various fields.
The intelligent mobile robot is a robot system capable of sensing the environment and the state of the robot by a sensor and realizing autonomous navigation movement facing a target in the environment with an obstacle so as to complete a preset task. Therefore, the obstacle avoidance system is an essential element of the intelligent mobile robot. In general, obstacle avoidance is realized by detecting an obstacle based on a plurality of obstacle avoidance detectors provided on an intelligent mobile robot, and the obstacle may be an uneven ground or some object. Wherein the detector is for example a lidar detector or the like.
These detectors often have angular deviations, such as angular accuracy of about ±3°, from the center axis of the laser radar detector at the time of shipment. Under the influence of the angle deviation, when the detector is installed, the installation angle of the detector on the robot body needs to be determined, namely the installation angle is continuously adjusted, so that the detector can detect an obstacle with a certain height range at a certain horizontal distance from the robot. Therefore, it is necessary to test the height range that the detector can detect at a certain installation angle in order to adjust the installation angle of the detector to meet the detection requirement.
Disclosure of Invention
In view of the above, an embodiment of the present invention provides a detector testing system for testing a height range of an obstacle that can be detected by a detector at a current installation angle, so as to accurately adjust the installation angle of the detector to meet a preset detection requirement.
The embodiment of the invention provides a machine detector testing system, which comprises:
a detector disposed on the carrier, a detection plate disposed facing the detector, and a display assembly;
a plurality of groups of detection devices are arranged on the detection board, and each group of detection devices comprises a photosensitive component, a comparator and a microcontroller which are connected in sequence;
the photosensitive component is used for detecting the light beam emitted by the detector and determining the detection voltage corresponding to the detected light beam;
one input end of the comparator is connected with a reference voltage, the other input end of the comparator is connected with the output end of the photosensitive component and is used for comparing the reference voltage with the detection voltage and outputting a comparison result indicating signal;
and the microcontroller is used for controlling the display component to display indication information for indicating whether the corresponding photosensitive component can detect the light beam emitted by the detector according to the comparison result indication signal.
The detector testing system provided by the embodiment of the invention is used for measuring the height range which can be detected currently by a detector arranged on a bearing carrier such as a robot at a certain installation angle. Specifically, a detection plate comprising a plurality of groups of detection devices and a display assembly are arranged, and during actual testing, one surface of the detection plate, which comprises the plurality of groups of detection devices, is vertically arranged facing the detector. The photosensitive components, the comparator and the microcontroller which are sequentially connected are arranged in each group of detection devices, and the heights of the photosensitive components of each group of detection devices relative to the ground are different. The detector emits light beams, the light beams emitted by the detector can be detected through the photosensitive components in each group of detection devices, so that the detection voltage corresponding to the detected light beams can be determined, the corresponding detection voltage can be compared with the parameter voltage based on the comparison result of the comparators in each group of detection devices, which photosensitive components detect the light beams emitted by the detector can be determined, and accordingly, the micro controller in each group of detection devices controls the display component to display indication information for indicating whether the corresponding photosensitive components can detect the light beams emitted by the detector based on the comparison result of the corresponding comparators, so that an installer can intuitively see the height range which can be detected by the detector under the current installation angle, and the installation angle of the detector can be adjusted based on the height range until the preset effective height range can be detected.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a first embodiment of a detector testing system according to an embodiment of the present invention;
FIG. 2 is a schematic view of an alternative sensing plate configuration of the embodiment of FIG. 1;
FIG. 3 is a schematic diagram of a circuit corresponding to the embodiment shown in FIG. 2;
FIG. 4 is a schematic view of an alternative detector plate configuration of the embodiment of FIG. 1;
FIG. 5 is a schematic diagram of a circuit corresponding to the embodiment shown in FIG. 4;
FIG. 6 is a schematic diagram of a second embodiment of a detector testing system according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a third embodiment of a detector testing system according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise, the "plurality" generally includes at least two, but does not exclude the case of at least one.
It should be understood that the term "and/or" as used herein is merely one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present invention to describe XXX, these XXX should not be limited to these terms. These terms are only used to distinguish XXX from each other. For example, a first XXX may also be referred to as a second XXX, and similarly, a second XXX may also be referred to as a first XXX, without departing from the scope of embodiments of the invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
Before describing the detector testing system provided by the embodiment of the present invention, it is first explained why the installation angle of the detector is to be adjusted.
Taking the detector as a laser radar detector as an example, for example, when leaving a factory, the angle accuracy of the central axis of the laser radar detector is about ±3°. This angular deviation tends to affect the range of obstacle heights that the detector can detect at different horizontal distances. Since the direction of the emitted detection beam is horizontal if the detector has no angular deviation, the detector only needs to be mounted on the robot at a position 20 cm from the ground if it is intended to detect an obstacle at a height of 20 cm. However, due to the existence of this angular deviation, if it is desired to detect an obstacle at a height of 20 cm, it may be necessary to mount the detector on the robot at a position of 50 cm from the ground, the specific mounting height being determined in combination with the horizontal distance from the robot that requires the obstacle that the detector can detect, the further the horizontal distance, the higher the mounting height due to this angular deviation. In practical applications, the detector may not be installed as high as required for assembly stability and objective detection of low objects, and in some cases, the robot body height may not meet the height requirement. Therefore, in practical applications, the detector needs to be installed at a position on the robot body with a lower height from the ground, that is, the installation height of the detector on the robot body is fixed, and at this time, it is required to ensure that an obstacle with a certain preset height range can be detected by adjusting the installation angle of the detector relative to the center of the detector.
The following description is provided in connection with the following examples: when the detector is currently mounted on the robot at a certain mounting angle, how to measure the height range at a certain horizontal distance from the robot that the current detector can detect, so as to adjust the mounting angle of the detector based on the difference between the measured height range and the preset height range.
Fig. 1 is a schematic diagram of a first embodiment of a detector testing system according to an embodiment of the present invention, as shown in fig. 1, the system includes:
a detector 11 provided on the carrier 1, a detection plate 2 placed facing the detector 11, and a display assembly 3.
Alternatively, the carrier 1 may be different based on different application scenarios, and a robot is taken as an example in the embodiment of the present invention. To meet the requirements of the robot for detecting the height of the obstacle in a certain application scenario, the installation position of the detector 11 on the robot body, that is, the height position from the horizontal ground may be fixed, for example, when the height of the obstacle to be detected is about 30 cm, the detector 11 may be fixedly arranged at a position on the robot body 30 cm from the horizontal ground.
Further, assuming that in this application scenario, it is required that the detector 11 is able to detect an obstacle at a horizontal distance of about L meters from the robot, the light beam emitted by the detector 11 should cover a range of 30±10 cm, assuming that the light beam is on a vertical plane at L meters, when the detector 11 is at an ideal installation angle, due to the existence of an angular deviation inherent to the detector. Thus, in the present embodiment, if it is detected that the height range covered by the light beam emitted from the detector 11 at the present certain mounting angle is not within the range of 30±10 cm at L meters, it is indicated that the mounting angle at this time is not ideal, and adjustment is required until the height coverage of the emitted light beam at L meters is adjusted within the range of 30±10 cm.
Based on this, in order to test the height range covered by the light beam emitted from the detector 11 at a certain current mounting angle at L meters, the present embodiment provides a detection board 2 including a plurality of sets of detection devices 21, and a display unit 3. Wherein the plurality of groups of detecting means 21 on the detecting plate 2 are used for detecting whether the light beam emitted by the detector 11 can be detected, and the display assembly 3 is used for displaying at what height position the light beam emitted by the detector 11 is detected. The pickup board 2 may be implemented as a PCB board.
Specifically, in the actual test, the detection plate 2 may be placed at a horizontal distance of L meters from the detector 11, and the face containing the plurality of sets of detection devices 21 may be placed vertically toward the detector 11. As shown in fig. 1, the plurality of sets of detecting devices 21 are arranged in the length direction on one surface of the detecting plate 2, and the plurality of sets of detecting devices 21 may be equally spaced on the surface.
Specifically, each group of detection devices 21 includes a photosensitive component 211, a comparator 212, and a microcontroller 213, which are sequentially connected. Wherein:
the photosensitive component 211 is used for detecting the light beam emitted by the detector 11 and determining the detection voltage corresponding to the detected light beam.
One input end of the comparator 212 is connected with the reference voltage, and the other input end of the comparator is connected with the output end of the photosensitive component 211 and is used for comparing the reference voltage with the detection voltage and outputting a comparison result indicating signal;
and a microcontroller 213 for controlling the display module 3 to display indication information for indicating whether the corresponding photosensitive module 211 can detect the light beam emitted from the detector 11 according to the comparison result indication signal.
As shown in fig. 2 and 4, each group of detection devices 21 may include a photosensitive component 211, a comparator 212, and a microcontroller 213. In the embodiment of the present invention, alternatively, the display assembly 3 may be implemented as an indicator lamp 31 corresponding to each group of detection devices one by one, as shown in fig. 2; alternatively, the display unit 3 may be implemented as a host computer 32, as shown in fig. 4. Alternatively, as shown in fig. 3 and 5, the photosensitive element 211 may be implemented as a series circuit of a photodiode and a resistor, where the wavelength of the light beam that can be detected by the photodiode matches the wavelength of the light beam emitted by the detector 11.
How the height range covered at L meters by the light beam emitted by the detector 11 is determined is described in the embodiments shown in fig. 2 and 3. Since the detection plate 2 is placed facing the detector 11, the photosensitive elements 211 corresponding to each of the plurality of sets of detection devices 21 thereon can detect the light beam emitted from the detector 11. It will be appreciated that photosensitive elements 211 on detector board 2 that are within the coverage of the beam emitted by detector 11 are able to detect the beam emitted by detector 11, while photosensitive elements 211 that are outside of this range will not detect the beam. Thus, for the photosensitive assembly 211 detecting the light beam, since the photodiode therein can output a corresponding current signal based on the intensity of the detected light beam, the current signal can be converted into a voltage signal based on the effect of the resistor, thereby obtaining a detection voltage corresponding to the detected light beam. The photosensitive element 211 that cannot detect the light beam may only detect the light of the external environment, and similarly, may obtain a detection voltage corresponding to the detected light of the external environment.
Then, each photosensitive element 211 transmits the obtained detection voltage to a corresponding comparator 212, and the comparator 212 outputs a comparison result indicating signal based on the comparison of the detection voltage and a preset reference voltage. It will be appreciated that the comparison result indication signal corresponds to a binary signal such as 0, 1. For the photosensitive element 211 capable of detecting the light beam emitted from the detector 11, the detection voltage is generally higher than the reference voltage, and the comparison result indication signal output by the corresponding comparator 212 is for example 1, whereas for the photosensitive element 211 incapable of detecting the light beam emitted from the detector 11, the detection voltage is generally lower than the reference voltage, and the comparison result indication signal output by the corresponding comparator 212 is for example 0. Thus, the microcontroller 213 connected to each comparator 212 controls the display module 3 to display corresponding indication information according to the comparison result indication signal received by itself, where the indication information is used to indicate whether the corresponding photosensitive module 211 can detect the light beam emitted by the detector 11.
In the embodiment shown in fig. 2, the display assembly 3 is embodied as a plurality of indicator lights 31, which plurality of indicator lights 31 are in one-to-one correspondence with the plurality of sets of detection means 21. That is, the display unit 3 may be implemented as the indication lamp 31 connected to each of the microcontrollers 213, and at this time, each of the microcontrollers 213 is configured to control the display state of the corresponding indication lamp 31 according to the comparison result indication signal, and the display state may be an on-off state or a display color. Specifically, if the comparison result indication signal received by a certain microcontroller 213 is 1, the corresponding indication lamp 31 may be controlled to be on, and if the comparison result indication signal received by the certain microcontroller is 0, the corresponding indication lamp 31 may be controlled to be off.
In addition, in order to facilitate visual knowledge of the height coverage of the light beam emitted from the detector 11 at L meters, a scale may be provided on the detection plate 2, each photosensitive element 211 may correspond to one scale value, and each indicator lamp 31 may be provided to correspond to the same scale value as the photosensitive element to which each indicator lamp corresponds. Assuming that the scale on the detection plate 2 is increased in the direction away from the ground with a point close to the ground as the origin, the height coverage of the emitted light beam of the detector 11 at L meters can be determined based on the scale corresponding to the indicator lamp 31 in the on state on the detection plate 2. In the foregoing example, the height coverage should ideally be within 30±10 cm, and if the height coverage actually determined does not match the ideal height coverage, it is indicated that the installation angle of the detector 11 needs to be adjusted. For example, if the actually determined height coverage is shifted upward with respect to the ideal height coverage, the mounting angle of the adjustment detector 11 is shifted downward by some amount; if the actually determined height coverage is shifted downward with respect to the ideal height coverage, the mounting angle of the adjustment detector 11 is shifted upward a little.
How the height range covered at L meters by the light beam emitted by the detector 11 is determined will be described with reference to the embodiments shown in fig. 4 and 5. Unlike the embodiment shown in fig. 2 and 3, the display unit 3 may also be implemented as a host computer 32, where the host computer 32 is common to multiple sets of detection devices 21, as illustrated by two detection devices in fig. 5. At this time, each group of detection devices 21 further includes a communication interface 214 connected to the microcontroller 213 for communicating with the host computer 32.
The upper computer 32 may display a preset detection plate image in which the scales of the plurality of sets of detection devices 21 corresponding to each other on the detection plate 2 and the indicators of the plurality of sets of detection devices 21 corresponding to each other are displayed. Briefly, an image is generated in advance according to the detection plate 2, in which the scale values corresponding to the detection devices 21 (actually mainly referred to as photosensitive elements 211) on the detection plate 2 are reflected, and an indicator is associated with each detection device 21 in the image, for indicating whether the detection device detects the light beam emitted by the detector 11.
Based on this, when the microcontroller 213 in each detection device 21 receives the comparison result indication signal sent by the corresponding comparator 212 according to the foregoing description, the microcontroller 213 is further configured to send display indication information to the upper computer 32 through the corresponding communication interface 214 according to the comparison result indication signal, where the display indication information includes the identifier of the detection device 21 corresponding to the microcontroller 213. The identification is used to characterize which detection means 21 detected the light beam emitted by the detector 11. Thus, the upper computer 32 is configured to adjust the display state of the corresponding indicator according to the received display instruction information sent by each microcontroller 213, for example, adjust the display color of the indicator, for example, green indicates that detection is performed, and red indicates that detection is not performed. In this way, the height coverage of the light beam emitted by the current detector 11 at L meters can be determined based on the color of the indicator corresponding to each detection device 21 displayed on the interface of the upper computer 32 and the scale corresponding to each detection device 21 on the detection board 2.
In addition, when the installer is required to manually adjust the installation angle of the detector 11, in order to facilitate the installer to intuitively know whether the installation angle of the detector 11 should be adjusted upward or downward based on the display result of the upper computer 32, optionally, in the above-mentioned preset detection plate image in the upper computer 32, a display effect with respect to the height coverage of the emission light beam of the detector 11 at L meters in the ideal case, which is referred to as an effective display position range in this embodiment, may also be displayed.
In order to display the effective display position range, it is first known what the effective display position range is. Specifically, when the height position of the installation of the detector 11 on a carrier such as a robot is determined, and an effective detection distance of the detector 11 over a horizontal distance is determined, the effective display position range can be calculated. Thus, the host computer 32 is also configured to: the detector 11 receiving the user input is located at a preset height on the carrier 1 and an effective horizontal detection distance of the detector 11, and further determines the effective display position range according to the preset height, the effective horizontal detection distance and a preset angle deviation corresponding to the detector 11, and displays the effective display position range in a preset detection plate image. The above-mentioned preset angle deviation may be stored in the upper computer 32 in advance. The method for calculating the effective display position range is a simple triangle operation process, and is not described herein.
Thus, based on the above-described effective display position ranges displayed in the preset detection plate image in the upper computer 32 and the display states of the indicators corresponding to the respective detection devices 21, the deviation of the height coverage of the light beam currently emitted by the detector 11 at L meters from the ideal height coverage characterized by the effective display position ranges can be intuitively seen, so that the adjustment of the installation angle of the detector 11 is facilitated based on the deviation.
In summary, the detector testing system provided by the embodiment of the invention is used for measuring the height range which can be detected currently by a detector arranged on a bearing carrier such as a robot at a certain installation angle, so that the installation angle of the detector can be adjusted based on the measurement result. Specifically, by arranging a detection plate including a plurality of groups of detection devices and a display assembly, during actual testing, the side of the detection plate including the plurality of groups of detection devices is placed vertically facing the detector. The photosensitive components, the comparator and the microcontroller which are sequentially connected are arranged in each group of detection devices, and the heights of the photosensitive components of each group of detection devices relative to the ground are different. The detector emits light beams, the light beams emitted by the detector can be detected through the photosensitive components in each group of detection devices, so that the detection voltage corresponding to the detected light beams can be determined, the corresponding detection voltage can be compared with the parameter voltage based on the comparison result of the comparators in each group of detection devices, which photosensitive components detect the light beams emitted by the detector can be determined, and accordingly, the micro controller in each group of detection devices controls the display component to display indication information for indicating whether the corresponding photosensitive components can detect the light beams emitted by the detector based on the comparison result of the corresponding comparators, so that an installer can intuitively see the height range which can be detected by the detector under the current installation angle, and the installation angle of the detector can be adjusted based on the height range until the preset effective height range can be detected.
Fig. 6 is a schematic diagram of a second embodiment of a detector testing system according to an embodiment of the present invention, as shown in fig. 6, on the basis of the embodiment shown in fig. 4, the system further includes:
the device comprises an adjusting structure 12 connected with the detector 11, and a controller 13 connected with the adjusting structure 12, wherein the upper computer 32 is in communication connection with the controller 13.
The upper computer 32 is further configured to send an adjustment instruction to the controller 13 if it is determined that the scale range corresponding to the preset display state exceeds the valid display position range according to the display state of the indicator.
A controller 13 for adjusting the adjustment structure 12 according to the adjustment instruction to adjust the mounting angle of the detector 11 relative to the carrier 1.
In this embodiment, in order to automatically adjust the mounting angle of the detector 11 on the carrier 1, such as a robot body, an adjusting structure 12 may be provided, the adjusting structure 12 being a rotatable structure, and the detector 11 being placed on the adjusting structure 12.
Thus, based on the description in the foregoing embodiment, when the upper computer 32 determines the scale range corresponding to the preset display state according to the display state of the indicator, that is, determines the height coverage of the light beam emitted by the current detector 11 at L meters, and sends an adjustment instruction to the controller 13 based on the deviation of the height coverage from the effective display position range, so that the controller 13 adjusts the adjustment structure 12 according to the adjustment instruction to adjust the installation angle of the detector 11 relative to the carrier 1. For example, if the actually determined height coverage is offset upwardly relative to the effective display position range, an indication of a downward offset adjustment is sent to the controller 13; if the actual determined height coverage is offset downwardly relative to the effective display position range, an indication of an upward offset adjustment is sent to the controller 13.
Based on the embodiment, the automatic adjustment of the installation angle of the detector can be realized.
Fig. 7 is a schematic diagram of a third embodiment of a detector testing system according to an embodiment of the present invention, as shown in fig. 7, on the basis of the embodiment shown in fig. 3 or fig. 5, taking the embodiment shown in fig. 3 as an example, each group of detecting devices 21 further includes:
a filter 215, disposed in front of the photosensitive element 211, is used to filter out light that exceeds the wavelength of the corresponding emitted light beam from the detector 11, and,
a convex lens 216 is disposed between the filter 215 and the photosensitive element 211, and the photosensitive element 211 is located at a focal position of the convex lens 216.
In this embodiment, in order to improve the detection accuracy, sensitivity and anti-interference of the photosensitive component 211 and avoid the influence of external light on the detection of the photosensitive component 211, a filter 215 may be disposed in front of the photosensitive component 211, where the filter 215 is used to filter out light beyond the wavelength of the light emitted by the detector 11. In addition, in order to enhance the detection accuracy of the photosensitive component 211, a convex lens 216 may be disposed between the filter 215 and the photosensitive component 211, so as to collect and amplify the light filtered by the filter 215.
The system embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A detector testing system, comprising:
a detector disposed on the carrier, a detection plate disposed facing the detector, and a display assembly;
a plurality of groups of detection devices are arranged on the detection board, and each group of detection devices comprises a photosensitive component, a comparator and a microcontroller which are connected in sequence;
the photosensitive component is used for detecting the light beam emitted by the detector and determining the detection voltage corresponding to the detected light beam;
one input end of the comparator is connected with a reference voltage, the other input end of the comparator is connected with the output end of the photosensitive component and is used for comparing the reference voltage with the detection voltage and outputting a comparison result indicating signal;
and the microcontroller is used for controlling the display component to display indication information for indicating whether the corresponding photosensitive component can detect the light beam emitted by the detector according to the comparison result indication signal.
2. The system of claim 1, wherein the sensing plate is provided with graduations;
the display assembly includes:
the plurality of indicator lamps are in one-to-one correspondence with the plurality of groups of detection devices;
and the microcontroller is used for controlling the display state of the corresponding indicator lamp according to the comparison result indicating signal.
3. The system of claim 1, wherein each set of detection devices further comprises: a communication interface connected with the microcontroller;
the display assembly includes: the upper computer is provided with a preset detection board image, and the preset detection board image is provided with scales corresponding to the detection devices on the detection boards and indicators corresponding to the detection devices;
the microcontroller is used for sending display indication information to the upper computer through a corresponding communication interface according to the comparison result indication signal, wherein the display indication information comprises an identifier of a detection device corresponding to the microcontroller;
and the upper computer is used for adjusting the display state of the corresponding indicator according to the display indication information.
4. The system of claim 3, wherein the host computer is further configured to:
receiving a preset height of the detector on the carrier and an effective horizontal detection distance of the detector, which are input by a user;
and determining an effective display position range according to the preset height, the effective horizontal detection distance and the preset angle deviation corresponding to the detector, and displaying the effective display position range in the preset detection plate image.
5. The system of claim 4, wherein the system further comprises:
the upper computer is in communication connection with the controller;
the upper computer is further configured to send an adjustment instruction to the controller if it is determined that, according to the display state of the indicator, a scale range corresponding to a preset display state exceeds the effective display position range;
the controller is used for adjusting the adjusting structure according to the adjusting instruction so as to adjust the installation angle of the detector relative to the bearing carrier.
6. The system of any one of claims 1 to 5, wherein each set of detection devices further comprises:
and the filter is arranged in front of the photosensitive component and is used for filtering out light rays exceeding the wavelength of the emission light beam corresponding to the detector.
7. The system of claim 6, wherein each set of detection devices further comprises:
and the convex lens is arranged between the filter and the photosensitive component, and the photosensitive component is positioned at the focal point of the convex lens.
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| CN201710318458.5A CN107015211B (en) | 2017-05-08 | 2017-05-08 | Detector test system |
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| 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 |
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| 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 |
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