CN109520524B - A calibrating device that is arranged in a landform appearance laser word appearance to fix a position - Google Patents
A calibrating device that is arranged in a landform appearance laser word appearance to fix a position Download PDFInfo
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- CN109520524B CN109520524B CN201811323601.0A CN201811323601A CN109520524B CN 109520524 B CN109520524 B CN 109520524B CN 201811323601 A CN201811323601 A CN 201811323601A CN 109520524 B CN109520524 B CN 109520524B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
A calibrating device for laser line appearance location in landform appearance belongs to soil and water conservation research technical field. The device consists of a calibration reference device, a lifting fine-tuning device and an angle fine-tuning device. The calibration reference device consists of a calibration plate, a reference line, a level bar and a horizontal adjusting platform; the lifting fine-tuning device consists of a bracket, a hand wheel, a transmission rod, a fixing nut, a screw rod, a crown gear, a moving nut and a translation unit; the angle fine-tuning device consists of an upper chuck, a lower chuck, a thread type adjusting knob, a connecting sheet, a screw hole, a fixing unit, a cross-thread type adjusting knob, a vertical guide rail, a horizontal guide rail, a built-in gear and a built-in spring. The angle fine-tuning device and the lifting fine-tuning device provide adjusting tools for the laser linear instrument, and the calibration reference device provides reference standards for equidistant and parallel laser surfaces through the pi-shaped calibration line. The invention can accurately and quickly calibrate the position and the angle of the laser linear instrument in the landform instrument.
Description
Technical Field
The invention belongs to the technical field of water and soil conservation research, and relates to a calibrating device for positioning a laser linear instrument in a landform instrument.
Background
The topographic survey is important content of the water and soil conservation discipline and is the basis for researching the soil erosion types including hydraulic erosion, gravity erosion, wind erosion and the like. With the development of advanced technologies such as laser technology optical technology, ultrasonic technology, computer technology, image processing technology and the like, a terrain measurement method is changed from a traditional contact measurement method such as an erosion needle method, a chain method and the like to a rapid and efficient non-contact measurement method such as an ultrasonic distance measurement method, an infrared sensor method, a structured light laser scanning method, a three-dimensional laser scanning method and the like (Zhujun jun, Zhang Guangliang, surface micro-terrain measurement and quantification method research and review [ J ] China soil and water conservation science, 2013,11(5):114 plus 122.).
The landform instrument is a landform observation device independently developed by the first inventor and a subject group thereof, and can monitor the dynamic change of the trench slope landform in a rainfall simulation experiment in real time based on a structured light scanning technology and calculate the gravity erosion amount of the previous time. The subject group is developed from 2009, 5 generations of prototype machines have been developed so far, and the invention patent 6 of granted national invention patent is ZL 201310422836.6; ZL 201310422447.3; ZL 201010502055.4; ZL 201010502051.6; ZL 201010144689.7; ZL 201010144655.8. The instrument has completed quantitative observations of gravity erosion in 3 national science foundation project experiments. The working principle of the landform instrument is as follows: the laser linear instrument is matched with the camera to obtain a contour map of the slope; and then, assigning values in GIS software to form a three-dimensional stereogram, and further providing parameters such as the volume, the projection area, the coordinates of each point and the like of the slope body. The landform instrument records the whole process of collapsed landforms, and the landform vector diagram is obtained by screen capture processing according to the video, so that the landform instrument realizes dynamic observation of erosion landforms in rainfall. The relative error of the measured volume of the landform instrument can be controlled within +/-10% (Zhao super, xu yezhou, xu feilong, Wang Shufang, dynamic observation device of experimental landform [ J ]. China conservation science of water and soil, 2012,10(01): 65-69.).
However, the geomorphology instrument has the following problems to be further improved: 1. the calibration work of the position of the laser linear instrument in the host is complicated and time-consuming; 2. the planar structured light reference system for adjusting the position of the laser linear instrument is not sensitive enough to the elevation angle error of the laser linear instrument and needs to be improved urgently. Aiming at the problems, the invention provides an adjusting device capable of accurately and quickly positioning a laser line instrument for landforms.
Disclosure of Invention
In order to solve the problems, the invention provides a calibration device for positioning a laser linear instrument in a landform instrument, which utilizes an angle fine adjustment device 3 to enable the projection of a laser plane emitted by the laser linear instrument 8 on a calibration plate 4 to be parallel to a reference line 6 on a calibration reference device 1; the height of the linear laser is adjusted through the lifting fine adjustment device 2, and the position positioning of the laser linear instrument 8 is completed. All the laser in-line instruments 8 on the main board 10 are adjusted one by one, so that equidistant structured light planes are obtained.
The technical scheme of the invention is as follows:
a calibrating device for positioning a laser linear instrument in a landform instrument comprises a calibration reference device 1, a lifting fine-tuning device 2 and an angle fine-tuning device 3;
the calibration reference device 1 is a pi-shaped structure consisting of three calibration plates 4 and is horizontally arranged; reference lines 6 are engraved on the inner sides of the calibration plates 4, the reference lines 6 are a group of parallel equidistant lines, the reference lines 6 on the left calibration plate 4 and the right calibration plate 4 are connected with the corresponding reference lines 6 on the middle calibration plate 4 end to form a Pi-shaped calibration line, and a plurality of horizontal planes are formed as reference planes; a horizontal ruler 5 is fixed on the outer side of the calibration plate 4, the horizontal ruler 5 is parallel to one reference line 6, a horizontal adjusting platform 7 is installed at the bottom of the calibration plate 4, and the level is adjusted through the horizontal ruler 5 and the horizontal adjusting platform 7; when the projection line formed by the laser surface emitted by the laser linear instrument 8 on the three calibration plates 4 is superposed with one pi-shaped calibration line, the position calibration of the single laser linear instrument 8 is completed;
the lifting fine-adjustment device 2 mainly comprises a bracket 11, a hand wheel 12, a transmission rod 13, a fixed nut 14, a screw rod 15, a crown gear 16, a moving nut 17 and a translation unit 18; two ends of the screw rod 15 are fixedly arranged on the bracket 11 through fixing nuts 14, and a crown gear 16 is arranged on the screw rod 15; the transmission rod 13 is horizontally arranged on the bracket 11, the hand wheel 12 is connected with the screw rod 15 through the transmission rod 13, and the end part of the transmission rod 13 is contacted with the crown gear 16; the translation unit 18 is fixed on the fixing unit 24 of the angle fine-tuning device 3, the tail part of the translation unit 18 is fixedly connected with the movable nut 17, and the movable nut 17 is arranged on the screw rod 15; the transverse rotation of the transmission rod 13 is converted into the vertical rotation of the movable nut 17 through the crown gear 16, and the movable nut 17 drives the translation unit 18 to translate up and down slightly, so that the laser linear instrument 8 translates up and down slightly;
the angle fine-adjustment device 3 mainly comprises an upper chuck 19, a lower chuck 20, a threaded adjusting knob 21, a connecting piece 22, a screw hole 23, a fixing unit 24, a cross-thread adjusting knob 25, a vertical guide rail 26, a horizontal guide rail 27, a built-in gear 28 and a built-in spring 29; the inner sides of the upper chuck 19 and the lower chuck 20 are provided with transverse grains, one ends of the upper chuck 19 and the lower chuck 20 are positioned in the fixing unit 24, and a space formed between the outer upper chuck 19 and the outer lower chuck 20 is used for clamping the laser linear instrument 8; the upper block chuck 19 is controlled by a cross-grain type adjusting knob 25, the cross-grain type adjusting knob 25 is connected with a built-in gear 28 inside the fixing unit 24, the built-in gear 28 is meshed with cross grains on the upper block chuck 19 inside the fixing unit 24, a horizontal guide rail 27 is arranged inside the fixing unit 24, and when the cross-grain type adjusting knob 25 is rotated, the upper block chuck 19 is driven to horizontally slightly move along the horizontal guide rail 27; the lower chuck 20 is controlled by a threaded adjusting knob 21, a vertical guide rail 26 is arranged in the fixing unit 24, a built-in spring 29 is arranged between the threaded adjusting knob 21 and a block in the fixing unit 24, and when the threaded adjusting knob 21 is rotated, the lower chuck 20 is driven to move up and down along the vertical guide rail 26; the tail of the fixing unit 24 is welded with a connecting piece 22, the connecting piece 22 is provided with a screw hole 23, and the connecting piece 22 is connected with the translation unit 18 in the lifting fine adjustment device 2 through a bolt;
rotating the threaded adjusting knob 21 to move the lower chuck 20 upwards so as to match the upper chuck 19 to fix the laser linear instrument 8 to be adjusted; because the laser linear instrument 8 is preliminarily fixed by the pipe clamp 9, the cross-thread type adjusting knob 25 is rotated, the upper chuck 19 drives the laser linear instrument 8 to rotate slightly around the central line of the cross section of the laser linear instrument 8, and the angle positioning of the laser linear instrument 8 is realized; the angle fine-adjustment device 3 is connected with the translation unit 18 in the lifting fine-adjustment device 2 through a bolt, the translation unit 18 is adjusted to move up and down through the rotating hand wheel 12, and the angle fine-adjustment device 3 drives the clamping laser linear instrument 8 to translate up and down, so that the height positioning of the laser linear instrument 8 is completed.
After the laser linear instrument 8 is lifted and adjusted in angle, the projection line of the emitted laser surface on the calibration reference device 1 is superposed with one Pi-shaped calibration line on the three calibration plates 4, and the position adjustment of the laser linear instrument 8 is finished; then the laser I-shaped instrument 8 is completely fixed on the main board 10 through a pipe clamp 9; and rotating a threaded adjusting knob 21 to enable the lower chuck 20 to move downwards, loosening the laser linear instrument 8, moving the lifting fine adjusting device 2 and the angle fine adjusting device 3 to the position of the other laser linear instrument 8, and performing angle and lifting adjustment until the projections of the laser surfaces, emitted by all the laser linear instruments 8, on the main board 10 on the calibration reference device 1 coincide with the corresponding pi-shaped calibration lines on the calibration board 4.
The invention has the advantages that:
1. the device has higher efficiency and stability, and overcomes the defects of time and labor waste in early adjustment.
2. The invention provides a reliable equidistant structured light plane reference system for the adjustment of the laser linear instrument, can realize the angle adjustment and the height adjustment of the laser linear instrument, and forms a high-precision equidistant structured light plane according to the system.
Drawings
Fig. 1 is a schematic diagram of the operation of the present invention.
Fig. 2 is a schematic view of a calibration reference device.
Fig. 3 is a schematic view of the fine lifting adjustment device.
Fig. 4 is a schematic view of an angle fine-tuning device.
Fig. 5 is a sectional view of a in the angle fine adjustment device.
In the figure: 1 calibrating a reference device; 2, lifting and fine-tuning devices; 3 an angle fine-tuning device; 4, calibrating the plate; 5, a horizontal ruler; 6 reference line; 7, horizontally adjusting the platform; 8, laser line instrument; 9, pipe clamp; 10 a main board; 11 a support; 12 a hand wheel; 13 a transmission rod; 14 fixing the nut; 15, a screw rod; 16 crown gears; 17 moving the nut; 18 a translation unit; 19 an upper chuck; 20, a lower chuck; 21 a threaded adjusting knob; 22 connecting pieces; 23, screw holes; 24 a fixing unit; 25 horizontal thread type adjusting knobs; 26 vertical guide rails; 27 a horizontal guide rail; 28 built-in gear; 29 are innersprings.
Detailed Description
The invention is further illustrated below with reference to the figures and examples.
As shown in figures 1-5, the calibrating device for positioning the laser linear instrument in the landform instrument comprises a calibrating reference device 1, a lifting fine-tuning device 2 and an angle fine-tuning device 3.
The specific operation steps of the calibration device for positioning the laser linear instrument in the geomorphology instrument are as follows:
step 1: calibration reference device 1 adjustment phase
Firstly, drawing a series of parallel equidistant reference lines 6 on the front surface of each calibration plate 4, aligning any reference line 6 on the left calibration plate 4 with one end of a horizontal ruler 5 with scale marks, and adjusting a horizontal adjusting platform 7 at the bottom to enable bubbles of the horizontal ruler 5 to be centered, thereby completing the adjustment of the left calibration plate 4, namely forming a group of horizontal equidistant two-dimensional reference systems by all the reference lines 6 on the left calibration plate 4; the middle and right calibration plates 4 are adjusted in the same way and the reference lines 6 with the same height are ensured to be correspondingly connected end to form an equidistant three-dimensional reference system.
Step two: coarse adjustment of laser line instrument 8
The main board 10 provided with the laser linear instrument 8 is fixed on a platform at the bottom, is connected with a power supply and is roughly adjusted by hand, the laser linear instrument 8 is roughly fixed by using a pipe clamp 9 with the same diameter as the section of the laser linear instrument 8, so that the laser plane emitted by the laser linear instrument is roughly aligned with the reference plane with the corresponding height of the calibration reference device 1, and all the laser linear instruments 8 on the main board 10 are sequentially adjusted.
Step three: position fine adjustment of laser line instrument 8
The angle fine-tuning device 3 is connected with a translation unit 18 in the lifting fine-tuning device 2 through a bolt, the hand wheel 12 is rotated to adjust the position of the moving nut 17, and the angle fine-tuning device 3 is driven to move to the position of the laser linear instrument 8 to be adjusted. When the upper chuck 19 of the angle fine-tuning device 3 is tangent to the upper surface of the laser linear instrument 8, the thread type adjusting knob 21 is rotated to enable the lower chuck 20 to move upwards to fix the laser linear instrument 8, and the clamping work of the laser linear instrument 8 is completed.
Because the laser linear instrument 8 is roughly adjusted and is primarily fixed by the pipe clamp 9, if the laser plane is not horizontal, the cross-grain type adjusting knob 25 can be rotated, and the upper chuck 19 moves left and right to drive the laser linear instrument 8 to slightly rotate around the central line of the cross section of the laser linear instrument 8, so that the angle adjustment of the laser linear instrument 8 is realized, and a horizontal laser plane can be obtained;
the hand wheel 12 is rotated, the screw rod 15 is driven to rotate through the crown gear 16, so that the translation unit 18 can translate up and down, and the translation unit 18 and the laser linear instrument 8 move consistently due to the action of the angle fine adjustment device 3. And adjusting the height of the laser linear instrument 8 to enable the laser plane emitted by the laser linear instrument to coincide with the reference plane on the calibration reference device 1, wherein the projection line of the laser plane on the calibration plate 4 keeps parallel and equidistant and cannot be changed along with the change of the position of the main plate 10, and thus the position calibration of the laser linear instrument 8 is completed.
And rotating the threaded adjusting knob 21, loosening the laser linear instrument 8, moving the lifting fine adjustment device 2 and the angle fine adjustment device 3 to the position of another laser linear instrument 8, and finishing the fine adjustment of the angles and the heights of all the laser linear instruments 8 on the main board 10 one by one.
Step four: verification of equidistant laser planes
After the adjustment is finished, the main board 17 fixed with the laser linear instrument 8 is translated back and forth, the landform instrument base is adjusted at the positions of 2m, 2.5m and 3m respectively, and whether the projection lines of the adjusted equidistant laser planes on the left, middle and right calibration plates 4 coincide with the Pi-shaped calibration lines on the calibration plates 4 respectively is verified.
Claims (1)
1. A calibrating device for positioning a laser linear instrument in a landform instrument is characterized by comprising a calibrating reference device (1), a lifting fine-adjustment device (2) and an angle fine-adjustment device (3);
the calibration reference device (1) is a pi-shaped structure consisting of three calibration plates (4) and is horizontally placed; reference lines (6) are engraved on the inner sides of the calibration plates (4), the reference lines (6) are a group of parallel equidistant lines, the reference lines (6) on the left calibration plate (4) and the right calibration plate (4) are connected with the corresponding reference lines (6) on the middle calibration plate (4) end to form a Pi-shaped calibration line, and a plurality of horizontal planes are formed as reference planes; a horizontal ruler (5) is fixed on the outer side of the calibration plate (4), the horizontal ruler (5) is parallel to one reference line (6), a horizontal adjusting platform (7) is installed at the bottom of the calibration plate (4), and the horizontal is adjusted through the horizontal ruler (5) and the horizontal adjusting platform (7); when the projection lines formed by the laser surfaces emitted by the laser linear instrument (8) on the three calibration plates (4) coincide with one Pi-shaped calibration line, the position calibration of the single laser linear instrument (8) is completed;
the lifting fine-adjustment device (2) mainly comprises a bracket (11), a hand wheel (12), a transmission rod (13), a fixed nut (14), a screw rod (15), a crown gear (16), a movable nut (17) and a translation unit (18); two ends of the screw rod (15) are arranged on the bracket (11) through fixing nuts (14), and a crown gear (16) is arranged on the screw rod (15); the transmission rod (13) is horizontally arranged on the bracket (11), the hand wheel (12) is connected with the screw rod (15) through the transmission rod (13), and the end part of the transmission rod (13) is contacted with the crown gear (16); the translation unit (18) is fixed on a fixing unit (24) of the angle fine-adjustment device (3), the tail part of the translation unit (18) is fixedly connected with a movable nut (17), and the movable nut (17) is arranged on the screw rod (15); the transverse rotation of the transmission rod (13) is converted into the vertical rotation of the movable nut (17) through the crown gear (16), and the movable nut (17) drives the translation unit (18) to translate up and down, so that the laser line instrument (8) translates up and down;
the angle fine-adjustment device (3) mainly comprises an upper chuck (19), a lower chuck (20), a threaded adjusting knob (21), a connecting sheet (22), a screw hole (23), a fixing unit (24), a cross-thread adjusting knob (25), a vertical guide rail (26), a horizontal guide rail (27), a built-in gear (28) and a built-in spring (29); the inner sides of the upper block chuck (19) and the lower block chuck (20) are provided with transverse grains, one ends of the upper block chuck and the lower block chuck are positioned in the fixing unit (24), and a space formed between the outer upper block chuck (19) and the outer lower block chuck (20) is used for clamping the laser linear instrument (8); the upper block chuck (19) is controlled by a cross-grain type adjusting knob (25), the cross-grain type adjusting knob (25) is connected with a built-in gear (28) inside a fixing unit (24), the built-in gear (28) is meshed with cross grains on the upper block chuck (19) inside the fixing unit (24), a horizontal guide rail (27) is arranged inside the fixing unit (24), and when the cross-grain type adjusting knob (25) is rotated, the upper block chuck (19) is driven to horizontally move along the horizontal guide rail (27); the lower chuck (20) is controlled by a threaded adjusting knob (21), a vertical guide rail (26) is arranged in the fixing unit (24), a built-in spring (29) is arranged between the threaded adjusting knob (21) and a block in the fixing unit (24), and when the threaded adjusting knob (21) is rotated, the lower chuck (20) is driven to move up and down along the vertical guide rail (26); the tail of the fixing unit (24) is welded with a connecting piece (22), the connecting piece (22) is provided with a screw hole (23), and the connecting piece (22) is connected with a translation unit (18) in the lifting fine adjustment device (2) through a bolt;
rotating a threaded adjusting knob (21) to enable a lower chuck (20) to move upwards so as to match an upper chuck (19) to fix the laser linear instrument (8) to be adjusted; the horizontal grain type adjusting knob (25) is rotated, the upper chuck (19) drives the laser linear instrument (8) to rotate around the central line of the cross section of the laser linear instrument (8), and the angle positioning of the laser linear instrument (8) is realized; the angle fine-adjustment device (3) is connected with a translation unit (18) in the lifting fine-adjustment device (2) through a bolt, the translation unit (18) is adjusted to move up and down through a rotating hand wheel (12), and the angle fine-adjustment device (3) drives the clamping laser linear instrument (8) to translate up and down, so that the height positioning of the laser linear instrument (8) is completed;
after the laser linear instrument (8) is lifted and adjusted in angle, the projection line of the emitted laser surface on the calibration reference device (1) is superposed with one Pi-shaped calibration line on the three calibration plates (4), and the position adjustment of the laser linear instrument (8) is finished; then the laser line instrument (8) is fixed on the main board (10) through a pipe clamp (9); and (3) rotating a threaded adjusting knob (21) to enable a lower chuck (20) to move downwards, loosening the laser linear instrument (8), moving the lifting fine-adjustment device (2) and the angle fine-adjustment device (3) to the position of another laser linear instrument (8), and adjusting the angle and the lifting until the projection lines of the laser surfaces, emitted by all the laser linear instruments (8) on the main board (10), on the calibration reference device (1) coincide with the corresponding pi-shaped calibration lines on the calibration board (4).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811323601.0A CN109520524B (en) | 2018-11-08 | 2018-11-08 | A calibrating device that is arranged in a landform appearance laser word appearance to fix a position |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811323601.0A CN109520524B (en) | 2018-11-08 | 2018-11-08 | A calibrating device that is arranged in a landform appearance laser word appearance to fix a position |
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| CN109520524A CN109520524A (en) | 2019-03-26 |
| CN109520524B true CN109520524B (en) | 2022-03-29 |
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| CN110261842B (en) * | 2019-07-08 | 2021-09-14 | 北京云迹科技有限公司 | Detection laser installation position adjusting method and device suitable for robot |
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| KR100837261B1 (en) * | 2008-02-19 | 2008-06-11 | 주식회사 미래지중정보 | Surveying system |
| WO2012150590A1 (en) * | 2011-05-03 | 2012-11-08 | Shilat Optronics Ltd | Terrain surveillance system |
| CN104457788B (en) * | 2014-11-06 | 2017-05-24 | 上海市计量测试技术研究院 | Large-size mobile base line pile and calibration method thereof |
| CN105137415B (en) * | 2015-05-25 | 2017-08-29 | 北京空间机电研究所 | The apparatus and method that laser range finder field of view of receiver is demarcated and parallelism of optical axis is measured |
| CN105180811A (en) * | 2015-09-21 | 2015-12-23 | 武汉海达数云技术有限公司 | Laser scanner calibration method, based on ground objects with characteristics of the same name, for mobile measuring system |
| DE102016106403A1 (en) * | 2016-04-07 | 2017-10-12 | Cl Schutzrechtsverwaltungs Gmbh | Method for calibrating at least one scanning system, an SLS or SLM system |
| CN108534758B (en) * | 2018-04-08 | 2019-06-28 | 大连理工大学 | Based on the twin-engined landform observing device of mechanical fine adjustment |
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