CN109405795A - A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment - Google Patents
A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment Download PDFInfo
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- CN109405795A CN109405795A CN201811437982.5A CN201811437982A CN109405795A CN 109405795 A CN109405795 A CN 109405795A CN 201811437982 A CN201811437982 A CN 201811437982A CN 109405795 A CN109405795 A CN 109405795A
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- 230000003287 optical effect Effects 0.000 claims description 12
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- 230000000712 assembly Effects 0.000 claims description 7
- 238000000429 assembly Methods 0.000 claims description 7
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- 230000000694 effects Effects 0.000 claims description 5
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 5
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 3
- 230000008450 motivation Effects 0.000 claims 1
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- 238000012360 testing method Methods 0.000 abstract description 6
- 238000013532 laser treatment Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
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- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention relates to automated test device technical fields, refer in particular to a kind of adjusting method of multi-path laser distance-measuring equipment, it mainly passes through processor, fixed platform, adjusts robot and video camera cooperation, realizes the high precision position fine adjustment of attitude for carrying out unartificial operation to laser emitter and laser treatment device and corrects.Simultaneously the present invention also provides a kind of adjusting machine of application adjusting method, it can be realized above-mentioned adjusting method, correction be finely adjusted to multi-path laser distance-measuring equipment.
Description
Technical field
The present invention relates to automated test device technical fields, refer in particular to a kind of adjusting side of multi-path laser distance-measuring equipment
Method and adjusting machine.
Background technique
It is accurate to have route since it is to carry out ranging by the laser along straightline propagation for Laser Distance Measuring Equipment
The advantages that, and it is wide welcomed by the people.In currently used Laser Distance Measuring Equipment, based on high-efficient consideration, more often at present
Type includes the Laser Distance Measuring Equipment of multichannel, i.e., the equipment can issue multi-stripe laser and carry out laser to multiple directions simultaneously
Ranging.This multi-path laser distance-measuring equipment is to realize multichannel by being respectively arranged with the unit of transmitting-receiving laser on the outside of equipment
Ranging effect.
But since light is only along straightline propagation, when the position to relatively long distance carries out ranging, if laser is sent out
Slight deviation occurs for the position and angle for penetrating unit, and it will cause the consequences of " least bit leading to great error of difference ".Based on this reason
By Laser Distance Measuring Equipment will carry out test before factory and the fine tuning of position is corrected.Traditional fine tuning, which is entangled, to be exactly based on manually
Come what is realized, but artificial fine tuning has the shortcomings that precision is low, and the precise vernier adjustment that cannot achieve precision distance measurement equipment is corrected.
Summary of the invention
The present invention provides a kind of adjusting method of multi-path laser distance-measuring equipment for problem of the prior art, utilizes automation
The fine tuning that equipment completes high-precision laser range-finding equipment is corrected.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of adjusting method of multi-path laser distance-measuring equipment provided by the invention, comprising the following steps:
A, base position and the base position for presetting the hot spot on laser transmitter projects laser to first object plate are inclined
Difference presets the baseline profile and baseline profile deviation of the hot spot on laser transmitter projects laser to the second Target Board；In advance
If the laser signal search range of laser pickoff and received laser signal amplitude；
B, the n-th tunnel laser transmitter positions and posture are obtained, wherein n is the natural number greater than 0；
C, the laser emitter on n-th tunnel is clamped by adjusting robot；
D, emit laser on from n-th road laser emitter toward first object plate, and pass through the camera record laser
Position on hot spot and the first object plate；
E, the position in Step d is compared with base position, obtains physical location deviation；It is again that physical location is inclined
Difference is compared with base position deviation；
If physical location deviation is greater than base position deviation, step b to step d is repeated, by adjusting robot tune
The position of whole laser emitter and posture, until physical location deviation is not more than base position deviation；
If physical location deviation is not more than base position deviation, f step is executed；
F, emit laser on from n-th road laser emitter toward the second Target Board, pass through camera record laser facula
Actual profile on second Target Board；
G, the actual profile in step f is compared with baseline profile, obtains actual profile deviation, then actual wheel
Wide deviation is compared with baseline profile deviation；
If actual profile deviation is greater than baseline profile deviation, by the position of adjusting robot adjustment laser emitter
With posture, guarantee hot spot it is constant in the position of the second Target Board under the premise of so that the actual profile and baseline profile of hot spot
Between actual profile deviation be not more than baseline profile deviation；
If actual profile deviation is not more than baseline profile deviation, directly execution step h；
H, Dui Gai the n-th road laser emitter carries out dispensing, then unclamps and adjusts robot, allows and adjusts robot to the n-th tunnel
Laser pickoff is adjusted；
I, the n-th road laser emitter is opened, and obtains position and the posture of No. n-th laser pickoff；
J, No. n-th laser pickoff is clamped by adjusting robot；
K, No. n-th laser pickoff is opened, No. n-th laser pickoff is driven by adjusting robot, so that the n-th road laser
Receiver moves the laser signal that the sending of the n-th road laser emitter is searched in search range along setting path；When the n-th road laser
When receiver searches the laser signal of the n-th road laser emitter sending, step l is executed；
L, the position of present laser receiver is recorded, robot is controlled to adjust with optimizing searching method and adjusts the n-th road laser
The position of transmitter and posture, so that the received laser signal amplitude of No. n-th laser pickoff institute reaches default amplitude.
M, dispensing is carried out to No. n-th laser pickoff, then unclamps and adjusts robot, and the mobile robot that adjusts is not to touching
Encounter the position of multi-path laser distance-measuring equipment；
N, mobile multi-path laser equipment, repeats step a~step m, to the (n+1)th road laser emitter and the (n+1)th road laser
Receiver is adjusted.
Further, the video camera includes first camera and second camera, and the first camera is used for recording laser light
Position of the spot on the first object plate；The second camera is used for hot spot wheel of the recording laser hot spot on the second Target Board
It is wide.
Further, among step a and step b, further includes: step a1, multi-path laser distance-measuring equipment to be regulated
It is placed in fixed platform, which can be rotated in the horizontal direction and on vertical direction respectively.
Further, the clip claw assembly that robot is provided with insulation is adjusted, and limited position mechanism, limit is arranged in clip claw assembly
Mechanism is for preventing clip claw assembly from opening excessive and encountering adjacent laser emitter or laser pickoff.
The present invention also provides a kind of adjusting machines of multi-path laser distance-measuring equipment using above-mentioned adjusting method, including machine
Seat, the base is provided with processor, the fixed platform for fixing multi-path laser distance-measuring equipment, for laser emitter and
Adjusting robot that laser pickoff is adjusted and for taking pictures first object plate and the second Target Board to obtain
The video camera of hot spot physical location and actual profile, the processor respectively with the fixed platform, the adjusting robot, institute
State camera shooting mechatronics.
Further, the fixed platform includes pedestal, objective table, the first turntable, the second turntable, the first rotating machine
Structure and the second rotating mechanism, first turntable are movably set in the pedestal, and first rotating mechanism is for driving institute
The first turntable level is stated to be rotated using the center of first turntable as axis in the horizontal direction；Second turntable
Be movably set in first turntable, second rotating mechanism for drive second turntable in the vertical direction with
The center of second turntable is that axis is rotated, and the objective table is fixed on second turntable.
Further, the objective table is provided with extension slot, and the extension slot is detachably provided with extension, described to prolong
It stretches part and stretches out one end of the extension slot and be provided with screw hole.
Further, the adjusting robot includes robotic arm, electric fixture and two clip claw assemblies, the electric fixture
It is fixed on the output end of the robotic arm, the electric fixture includes two folders, and two clip claw assemblies are respectively arranged at two
Folder, two clip claw assembly face settings；
Clip claw assembly includes linking arm and insulation bluff piece, and linking arm includes the first connecting pin, serrated end and second connection end,
Serrated end is set between the first connecting pin and second connection end, and the first connecting pin is connected to folder, and insulation bluff piece is connected to the
Two connecting pins.
Further, the two sides of the electric fixture are respectively set finite place piece, the first connecting pin be located at locating part with
Between folder；Contradictory piece is provided on the outside of first connecting pin, contradictory piece and locating part contradict.
Further, the video camera includes first camera and second camera, and the first camera is used to shoot extraneous
The position of hot spot on first object plate；The second camera is used to shoot the profile of hot spot on the second extraneous Target Board；It is described
First camera and the second camera are electrically connected with the processor.
Beneficial effects of the present invention: the present invention by the light emitting to first object plate laser emitter at, using taking the photograph
Camera shoots facula position to be compared with preset value, is then adjusted by adjusting robot according to hot spot physical location
The position of laser emitter and posture；It is shot again at light emitting to the second Target Board using video camera by laser emitter
Light spot profile is compared with preset value, and laser hair is then adjusted according to the actual profile of hot spot by adjusting robot
The position of emitter and posture；After complete laser emitter to be regulated, laser pick-off is adjusted further according to the position of laser emitter
The position of device, so that the position of both laser emitter and laser pickoff be allowed to be adapted.Due to of the invention whole using inhuman
The mode that work participates in carries out, therefore avoids the be may cause maloperation of artificial participation, and improve the essence that fine tuning is corrected
Degree improves the precision through present invention multi-path laser equipment adjusted.
Detailed description of the invention
Fig. 1 is the flow chart that the present invention adjusts laser emitter.
Fig. 2 is the flow chart that the present invention adjusts laser pickoff.
Fig. 3 is schematic diagram of the invention.
Fig. 4 is the front view of fixed platform of the invention.
Fig. 5 is the side view of fixed platform of the invention.
Fig. 6 is the schematic diagram of objective table of the invention.
Fig. 7 is the schematic diagram of adjusting robot of the invention.
Fig. 8 is the decomposition diagram of component at the A of Fig. 7.
Fig. 9 is the schematic diagram of linking arm of the invention.
Figure 10 is the schematic diagram of insulation bluff piece of the invention.
Figure 11 is the schematic diagram of present invention multi-path laser distance-measuring equipment adjusted.
Appended drawing reference: 1-base, 2-processors, 3-fixed platforms, 4-adjusting robots, 5-video cameras, more than 6-
Road Laser Distance Measuring Equipment, 31-pedestals, 32-objective tables, the 33-the first turntable, the 34-the second turntable, the 35-the first rotation
Mechanism, the 36-the second rotating mechanism, 41-robotic arms, 42-electric fixtures, 43-clip claw assemblies, 51-first cameras, 52-
Second camera, 61-circuit boards, 321-extension slots, 322-extensions, 323-screw holes, 421-locating parts, 431-connections
Arm, 432-insulation bluff pieces, the 4311-the first connecting pin, 4312-serrated ends, 4313-second connection ends, 4314-contradictory piece,
4321-fixing ends, 4322-transitioning ends, 4323-clamping ends.
Specific embodiment
For the ease of the understanding of those skilled in the art, the present invention is made further below with reference to embodiment and attached drawing
Bright, the content that embodiment refers to not is limitation of the invention.The present invention is described in detail below in conjunction with attached drawing.
As shown in figure 11, the multi-path laser distance-measuring equipment that the present invention is adjusted, laser emitter and laser pick-off
Device is the circuit board 61 in figure.
As depicted in figs. 1 and 2, the present invention provides a kind of adjusting methods of multi-path laser distance-measuring equipment, including following step
It is rapid:
A, base position and the base position for presetting the hot spot on laser transmitter projects laser to first object plate are inclined
Difference presets the baseline profile and baseline profile deviation of the hot spot on laser transmitter projects laser to the second Target Board；In advance
If the laser signal search range of laser pickoff and received laser signal amplitude；
B, the n-th tunnel laser transmitter positions and posture are obtained, wherein n is the natural number greater than 0；
C, the laser emitter on n-th tunnel is clamped by adjusting robot 4；
D, emit laser on from n-th road laser emitter toward first object plate, and the laser is recorded by video camera 5
Position of the hot spot on the first object plate；
E, the position in Step d is compared with base position, obtains physical location deviation；It is again that physical location is inclined
Difference is compared with base position deviation；
If physical location deviation is greater than base position deviation, step b to step d is repeated, by adjusting robot tune
The position of whole laser emitter and posture, until physical location deviation is not more than base position deviation；
If physical location deviation is not more than base position deviation, f step is executed；
F, emit laser on from n-th road laser emitter toward the second Target Board, pass through 5 recording laser hot spot of video camera
Actual profile on second Target Board；
G, the actual profile in step f is compared with baseline profile, obtains actual profile deviation, then actual wheel
Wide deviation is compared with baseline profile deviation；
If actual profile deviation is greater than baseline profile deviation, the position of laser emitter is adjusted by adjusting robot 4
It sets and posture, under the premise of guaranteeing that hot spot is constant in the position of the second Target Board, so that the actual profile and reference wheel of hot spot
Actual profile deviation between exterior feature is not more than baseline profile deviation；
If actual profile deviation is not more than baseline profile deviation, directly execution step h；
H, Dui Gai the n-th road laser emitter carries out dispensing, then unclamps and adjusts robot 4, allows and adjusts robot 4 to n-th
Road laser pickoff is adjusted；
I, the n-th road laser emitter is opened, and obtains position and the posture of No. n-th laser pickoff；
J, No. n-th laser pickoff is clamped by adjusting robot 4；
K, No. n-th laser pickoff is opened, No. n-th laser pickoff is driven by adjusting robot 4, so that the n-th road is swashed
Optical receiver moves the laser signal that the sending of the n-th road laser emitter is searched in search range along setting path；When the n-th road is swashed
When optical receiver searches the laser signal of the n-th road laser emitter sending, step l is executed；
L, the position of present laser receiver is recorded, robot 4 is controlled to adjust with optimizing searching method and adjusts the n-th road laser
The position of transmitter and posture, so that the received laser signal amplitude of No. n-th laser pickoff institute reaches default amplitude.
M, dispensing is carried out to No. n-th laser pickoff, then unclamps and adjusts robot 4, and the mobile robot 4 that adjusts does not touch
Encounter the position of multi-path laser distance-measuring equipment；
N, mobile multi-path laser equipment, repeats step a~step m, to the (n+1)th road laser emitter and the (n+1)th road laser
Receiver is adjusted.
In the present embodiment, the invention also includes following operations:
The video camera 5 includes first camera 51 and second camera 52, and the first camera 51 is used for recording laser hot spot
Physical location on the first object plate；The second camera 52 is used for reality of the recording laser hot spot on the second Target Board
Border profile.First object plate is shot with first camera 51, second Target Board is clapped with second camera 52
It takes the photograph, to improve the accuracy of shooting.
In the present embodiment, among step a and step b, further includes: a1, multi-path laser equipment to be regulated is placed in admittedly
On fixed platform 3, which can be rotated in the horizontal direction and on vertical direction respectively.I.e. the present invention passes through fixation
Platform 3 voluntarily rotates, so that the position adjustment for multi-path laser equipment is realized under the premise of prosthetic interference,
With realize laser emitter adjust and laser pickoff adjust between switching, adjacent road laser emitter or laser pickoff it
Between the operation such as switching, improve working efficiency of the invention.
In the present embodiment, the clip claw assembly 43 that robot 4 is provided with insulation is adjusted, and clip claw assembly 43 is provided with limit
Mechanism, position-limit mechanism is for preventing clip claw assembly 43 from opening excessive and encountering adjacent laser emitter or laser pickoff.Absolutely
The clip claw assembly 43 of edge, can guarantee to adjust do not occur between robot 4 and multi-path laser equipment it is electric exchange, to avoid multichannel
Short circuit occurs for laser equipment；And the setting of position-limit mechanism, then it is to allow adjusting robot 4 unclamping laser emitter or swash
When optical receiver, adjacent laser emitter or laser pickoff will not be encountered, ensure that reliability of the invention.
In step b and step i, position/posture effect of laser emitter or laser pickoff is obtained, can be passed through
One of following mode is realized: (1) by customization fixture come position/posture of fixed laser transmitter or laser pickoff；
(2) laser emitter or laser pickoff are positioned using machine vision；(3) according to the positional structure of fixed platform 3
Design, position/posture of laser emitter or laser pickoff is obtained by calculating；(4) by manually adjusting robot 4
Adjust the position etc. of laser emitter or laser pickoff.
In the step of involved in the present embodiment " adjusting robot 4 " adjusts laser emitter or laser pickoff,
There is preset value in the region for adjusting the be able to carry out adjusting of robot 4, which needs according to multi-path laser to be regulated
Equipment is configured；The effect of preset value are as follows: when adjusting the adjustable range of robot 4 (as laser emitter or sharp
The angle etc. of distance, overturning that optical receiver moves around) be greater than preset value when, then can report an error, to avoid adjusting
Range is excessive and affects the normal work of adjacent laser emitter and laser pickoff.
Meanwhile adjusting can all preset having time every time, once regulating time is more than this preset time, then will do it report
It is wrong.
In addition to the method described above, as shown in figure 3, the multi-path laser that the present embodiment additionally provides a kind of above-mentioned adjusting method is surveyed
Adjusting machine away from equipment, including base 1, the base 1 are provided with processor 2, for fixing consolidating for multi-path laser distance-measuring equipment 6
Fixed platform 3, the adjusting robot 4 for laser emitter and laser pickoff to be adjusted and for first object plate
Taken pictures with the second Target Board to obtain the video camera 5 of facula position respectively, the processor 2 respectively with the fixed platform
3, the adjusting robot 4, the video camera 5 are electrically connected.
I.e. in the use of the present invention, needing that first object plate and the second mesh is respectively set in 5 front certain position of video camera
Target, the second Target Board is located in front of first object plate, and the second Target Board is overlapped with base position；And the second Target Board can be
The plate for the regular figures such as block is rectangular or round, the second Target Board are primarily used to be compared with the profile of hot spot；Work as hot spot
When appearance, adjusting robot 4 is to clamp laser emitter, is adjusted according to the deviation of facula position and base position；
After having adjusted position, it is compared further according to the shape of the second Target Board with the profile of hot spot, to adjust laser emitter
The optical path shape of the light emitted.
Specifically, as shown in Figure 4 and Figure 5, fixed platform 3 described in the present embodiment is rotatably, to specifically include
Pedestal 31, objective table 32, the first turntable 33, the second turntable 34, the first rotating mechanism 35 and the second rotating mechanism 36, it is described
First turntable 33 is movably set in the pedestal 31, and first rotating mechanism 35 is for driving 33 water of the first turntable
It is flat to be rotated in the horizontal direction using the center of first turntable 33 as axis；Second turntable 34 is movably set in
First turntable 33, second rotating mechanism 36 is for driving second turntable 34 in the vertical direction with described
The center of second turntable 34 is that axis is rotated, and the objective table 32 is fixed on second turntable 34.I.e. the present invention is logical
It crosses the first rotating mechanism 35 and drives the rotation of the first turntable 33, and 34 turns of the second turntable is driven by the second rotating mechanism 36
It is dynamic, it is not necessarily to artificial interference, realizes the change that automation drives Laser Distance Measuring Equipment to be detected to carry out orientation on two-dimensional space
More, the efficiency of test is improved.By the automatic change in the orientation, it can allow the present invention that be regulated is swashed automatically as needed
Switching, the n-th road laser emitter/laser pickoff and the (n+1)th road between optical transmitting set and laser pickoff to be regulated swash
Optical transmitting set/laser pickoff switching etc., improves the efficiency of adjusting.
Specifically, the first rotating mechanism 35 is similar with the structure of the second rotating mechanism 36 in the present embodiment, by motor with
And transmission mechanism composition, the transmission mechanism preferably but are not limited to gear drive, and motor is then preferably servo motor, thus
Rotational angle can be accurately controlled, avoid rotational angle excessive and has skipped certain laser emitter and laser to be regulated connects all the way
Receive device.
Specifically, as shown in fig. 6, the objective table 32 is provided with extension slot 321, the detachably setting of extension slot 321
There is extension 322, one end that the extension 322 stretches out the extension slot 321 is provided with screw hole 323.Pass through extension slot 321
Setting, allow the present invention can according to need, by way of replacing extension 322, allow the invention to install various
The multi-path laser distance-measuring equipment 6 of specification is adjusted, then by the key screw multi-path laser distance-measuring equipment 6 and screw hole 323 into
Row is fixed, and can reliably be carried out with ensuring to adjust.
As shown in figures 7 and 9, in the present embodiment, the adjusting robot 4 includes robotic arm 41,42 and of electric fixture
Two clip claw assemblies 43, the electric fixture 42 are fixed on the output end of the robotic arm 41, and the electric fixture 42 includes two
A folder, two clip claw assemblies 43 are respectively arranged at two folders, two 43 face of clip claw assembly settings；Clip claw assembly 43 includes
Linking arm 431 and insulation bluff piece 432, linking arm 431 include the first connecting pin 4311, serrated end 4312 and second connection end
4313, serrated end 4312 is set between the first connecting pin 4311 and second connection end 4313, and the first connecting pin 4311 is connected to
Folder, insulation bluff piece 432 are connected to second connection end 4313.The present invention is by being provided with linking arm 431, for increasing set of jaws
The intensity of part 43 allows the invention to stabilization and clamps circuit board；And by being provided with insulation bluff piece 432, so that circuit board
Electric current will not flow to the present invention, avoid circuit board short circuit and affect the effect of test.
Specifically, as shown in Figure 10, which is made of ceramic, because ceramics are with high insulating property and by force
Degree, can stablize and clamp laser emitter or laser pickoff；The bluff piece 432 that insulate includes fixing end 4321,4322 and of transitioning end
Clamping end 4323, fixing end 4321 are connected to the first connecting pin 4311, and transitioning end 4322 is set to fixing end 4321 and clamping end
Between 4323, fixing end 4321 is parallel with clamping end 4323, and transitioning end 4322 is basically perpendicular to fixing end 4321.By insulation
Bluff piece 432 is further arranged to " Z " type structure that fixing end 4321, transitioning end 4322 and 4323 three of clamping end are constituted, can
The precision for further increasing the gap between two insulation bluff pieces 432 is conducive to the stability for more preferably controlling clamping circuit board.
Specifically, as shown in figure 8, (optical path component includes swashing to adjacent two-way optical path component among due to multi-path laser equipment
Optical transmitting set and laser pickoff) the distance between very little.Therefore in order to avoid insulation bluff piece 432 during opening because beating
Open form encounters adjacent optical path component at excessive, and finite place piece is respectively set in the two sides of the embodiment of the present invention electric fixture 42
421, the first connecting pin 4311 is between locating part 421 and folder；The outside of first connecting pin 4311 is provided with contradictory piece
4314, contradictory piece 4314 and locating part 421 contradict.By the cooperation of contradictory piece 4314 and locating part 421, linking arm is defined
431 opening stroke, thus define that the opening for clamping the insulation bluff piece 432 of laser emitter or laser pickoff is formed,
It ensure that the safety of multi-path laser distance-measuring equipment 6 to be regulated.
As shown in figure 3, in the present embodiment, the video camera 5 includes first camera 51 and second camera 52, described first
Camera 51 is used to shoot the position of hot spot on extraneous first object plate；The second camera 52 is used to shoot the second extraneous mesh
The profile of hot spot on target；The first camera 51 and the second camera 52 are electrically connected with the processor 2.Pass through first
Camera 51 and the division of labor of second camera 52 shoot position and the profile of hot spot respectively, are conducive to promote stability when the invention works
And logicality, avoid program from mistake occur and cause to affect the accurate of test result.
The above is only present pre-ferred embodiments, is not intended to limit the present invention in any form, although
The present invention is disclosed as above with preferred embodiment, and however, it is not intended to limit the invention, any person skilled in the art,
It does not depart within the scope of technical solution of the present invention, when the technology contents using the disclosure above make a little change or are modified to equivalent change
The equivalent embodiment of change, but without departing from the technical solutions of the present invention, technology refers to above embodiments according to the present invention
Made any simple modification, equivalent change and modification, belong in the range of technical solution of the present invention.
Claims (10)
1. a kind of adjusting method of multi-path laser distance-measuring equipment, it is characterised in that: the following steps are included:
A, base position and the base position deviation of the hot spot on laser transmitter projects laser to first object plate are preset,
The baseline profile and baseline profile deviation of hot spot on default laser transmitter projects laser to the second Target Board；Default laser
The laser signal search range of receiver and received laser signal amplitude；
B, the n-th tunnel laser transmitter positions and posture are obtained, wherein n is the natural number greater than 0；
C, the laser emitter on n-th tunnel is clamped by adjusting robot；
D, emit laser on from n-th road laser emitter toward first object plate, and pass through the camera record laser facula
Position on the first object plate；
E, the position in Step d is compared with base position, obtains physical location deviation；Again physical location deviation
It is compared with base position deviation；
If physical location deviation is greater than base position deviation, step b to step d is repeated, is adjusted and is swashed by adjusting robot
The position of optical transmitting set and posture, until physical location deviation is not more than base position deviation；
If physical location deviation is not more than base position deviation, f step is executed；
F, emit laser on from n-th road laser emitter toward the second Target Board, by camera record laser facula in institute
State the actual profile on the second Target Board；
G, the actual profile in step f is compared with baseline profile, obtains actual profile deviation, then actual profile is inclined
Difference is compared with baseline profile deviation；
Position and appearance if actual profile deviation is greater than baseline profile deviation, by adjusting robot adjustment laser emitter
State, under the premise of guaranteeing that hot spot is constant in the position of the second Target Board, so that between the actual profile and baseline profile of hot spot
Actual profile deviation be not more than baseline profile deviation；
If actual profile deviation is not more than baseline profile deviation, directly execution step h；
H, Dui Gai the n-th road laser emitter carries out dispensing, then unclamps and adjusts robot, allows and adjusts robot to the n-th road laser
Receiver is adjusted；
I, the n-th road laser emitter is opened, and obtains position and the posture of No. n-th laser pickoff；
J, No. n-th laser pickoff is clamped by adjusting robot；
K, No. n-th laser pickoff is opened, No. n-th laser pickoff is driven by adjusting robot, so that the n-th tunnel laser pick-off
Device moves the laser signal that the sending of the n-th road laser emitter is searched in search range along setting path；When the n-th tunnel laser pick-off
When device searches the laser signal of the n-th road laser emitter sending, step l is executed；
L, the position of present laser receiver is recorded, robot is controlled to adjust with optimizing searching method and adjusts the n-th tunnel Laser emission
The position of device and posture, so that the received laser signal amplitude of No. n-th laser pickoff institute reaches default amplitude.
M, dispensing is carried out to No. n-th laser pickoff, then unclamps and adjusts robot, and the mobile robot that adjusts is not to touching
The position of multi-path laser distance-measuring equipment；
N, mobile multi-path laser equipment, repeats step a~step m, to the (n+1)th road laser emitter and the (n+1)th tunnel laser pick-off
Device is adjusted.
2. the adjusting method of multi-path laser distance-measuring equipment according to claim 1, it is characterised in that: the video camera includes
First camera and second camera, the first camera are used for physical location of the recording laser hot spot on the first object plate；
The second camera is used for light spot profile of the recording laser hot spot on the second Target Board.
3. the adjusting method of multi-path laser distance-measuring equipment according to claim 1, which is characterized in that in step a and step b
Among, further includes: step a1, multi-path laser distance-measuring equipment to be regulated is placed in fixed platform, which can distinguish
It is rotated in the horizontal direction and on vertical direction.
4. the adjusting method of multi-path laser distance-measuring equipment according to claim 1, it is characterised in that: adjust robot setting
Have a clip claw assembly of insulation, and clip claw assembly is arranged limited position mechanism, position-limit mechanism for prevent clip claw assembly open it is excessive and
Encounter adjacent laser emitter or laser pickoff.
5. a kind of adjusting machine of the multi-path laser distance-measuring equipment using adjusting method described in claim 1-4 any one, special
Sign is: including base, the base is provided with processor, the fixed platform for fixing multi-path laser distance-measuring equipment, is used for
The adjusting robot that be adjusted to laser emitter and laser pickoff and for first object plate and the second Target Board
Take pictures to obtain the video camera of facula position and profile respectively, the processor respectively with the fixed platform, the tune
Save robot, the camera shooting mechatronics.
6. multi-path laser distance-measuring equipment according to claim 5 adjusts machine, it is characterised in that: the fixed platform includes base
Seat, objective table, the first turntable, the second turntable, the first rotating mechanism and the second rotating mechanism, the first turntable activity
It is set to the pedestal, first rotating mechanism is for driving the first turntable level in the horizontal direction with described the
The center of one turntable is that axis is rotated；Second turntable is movably set in first turntable, and described second turn
Motivation structure is for driving second turntable to be rotated in the vertical direction using the center of second turntable as axis, institute
It states objective table and is fixed on second turntable.
7. multi-path laser distance-measuring equipment according to claim 6 adjusts machine, it is characterised in that: the objective table, which is provided with, to be prolonged
Slot is stretched, the extension slot is detachably provided with extension, and one end that the extension stretches out the extension slot is provided with screw hole.
8. multi-path laser distance-measuring equipment according to claim 5 adjusts machine, it is characterised in that: the adjusting robot includes
Robotic arm, electric fixture and two clip claw assemblies, the electric fixture are fixed on the output end of the robotic arm, the electrical clip
Tool includes two folders, and two clip claw assemblies are respectively arranged at two folders, two clip claw assembly face settings；
Clip claw assembly includes linking arm and insulation bluff piece, and linking arm includes the first connecting pin, serrated end and second connection end, is shunk
End is set between the first connecting pin and second connection end, and the first connecting pin is connected to folder, and insulation bluff piece is connected to the second company
Connect end.
9. multi-path laser distance-measuring equipment according to claim 8 adjusts machine, it is characterised in that: the two sides of the electric fixture
Finite place piece is respectively set, the first connecting pin is between locating part and folder；It is provided with contradictory piece on the outside of first connecting pin,
Contradictory piece and locating part contradict.
10. multi-path laser distance-measuring equipment according to claim 5 adjusts machine, it is characterised in that: the video camera includes the
One camera and second camera, the first camera are used to shoot the position of hot spot on extraneous first object plate；Second phase
Machine is used to shoot the profile of hot spot on the second extraneous Target Board；The first camera and the second camera with the processing
Device electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437982.5A CN109405795A (en) | 2018-11-26 | 2018-11-26 | A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811437982.5A CN109405795A (en) | 2018-11-26 | 2018-11-26 | A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109405795A true CN109405795A (en) | 2019-03-01 |
Family
ID=65456130
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811437982.5A Pending CN109405795A (en) | 2018-11-26 | 2018-11-26 | A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment |
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| CN109901304A (en) * | 2019-04-10 | 2019-06-18 | 中南大学 | A kind of lens positioning device and localization method |
| CN112835018A (en) * | 2019-11-22 | 2021-05-25 | 余姚舜宇智能光学技术有限公司 | Radar debugging device and radar debugging method |
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| CN207752146U (en) * | 2017-11-29 | 2018-08-21 | 武汉万集信息技术有限公司 | A kind of self-checking device of laser radar transmitting light path coaxial |
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| JP2004198330A (en) * | 2002-12-20 | 2004-07-15 | Shinryo Corp | Method and apparatus for detecting position of subject |
| CN202562469U (en) * | 2012-05-24 | 2012-11-28 | 山东卡尔电气股份有限公司 | Ranging system for tracking laser point |
| US20170199273A1 (en) * | 2016-01-08 | 2017-07-13 | Fujitsu Limited | Apparatus, method for laser distance measurement, and non-transitory computer-readable storage medium |
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