CN111025264B - Support device and laser radar calibration device - Google Patents
Support device and laser radar calibration device Download PDFInfo
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- CN111025264B CN111025264B CN201911299691.9A CN201911299691A CN111025264B CN 111025264 B CN111025264 B CN 111025264B CN 201911299691 A CN201911299691 A CN 201911299691A CN 111025264 B CN111025264 B CN 111025264B
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- hinge
- mounting base
- rotating member
- rotating
- driving
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
Abstract
The invention belongs to the technical field of laser radar mounting supports, and particularly relates to a support device and a laser radar calibration device, wherein the support device comprises a displacement assembly, a positioning assembly and a calibration assembly, wherein the displacement assembly is arranged on the roof and comprises at least one mounting base capable of moving relative to the roof surface; the turnover mechanism is arranged on the mounting base and can turn over and rotate relative to the roof surface; and the lifting mechanism is fixed on the turnover mechanism and is provided with a moving end capable of moving up and down relative to the roof surface. The linear movement along the direction parallel to the top surface is realized through the arrangement of the displacement assembly, the overturning rotation relative to the top surface is realized through the arrangement of the overturning mechanism, and the up-and-down movement is realized through the lifting mechanism relative to the top surface, so that the degree of freedom of movement is higher, and the adjustment amplitude is larger; meanwhile, the matching of the displacement assembly, the turnover mechanism and the lifting mechanism is realized through the mounting base, the integration level is higher, and the problems that the degree of freedom of the existing support device in the background art is limited and the adjustment range is small are solved.
Description
Technical Field
The invention belongs to the technical field of laser radar mounting supports, and particularly relates to a support device and a laser radar calibration device.
Background
Laser radars have been widely used in various fields due to their measurement advantages such as high accuracy and high resolution. For example, in the field of testing of an automatic driving automobile, a roof of a vehicle to be tested is calibrated by using a roof laser radar to obtain image data of the roof of the vehicle with the test function, so that developers can complete testing of the roof.
The existing roof laser radar equipment is fixedly installed on a roof after calibration and calibration, generally, the roof laser radar equipment mainly comprises a support device and a laser radar calibration structure arranged on the support device, and because the sizes of the roofs of different vehicle systems, the same vehicle system and different vehicles and the laser radars of different models are different, the installation position of the laser radar calibration structure on the roof of each vehicle to be measured needs to be frequently adjusted.
The mounting support structure of the conventional laser radar calibration structure can only realize simple three-dimensional movement in the X direction, the Y direction and the Z direction, the degree of freedom is limited, the adjustment amplitude is small, the actual calibration requirements are difficult to meet, the mounting and adjustment period is long, the test period is long, and the test data is inaccurate.
Disclosure of Invention
The invention aims to solve the technical problems that the support structure of the laser radar calibration structure in the prior art is limited in degree of freedom, small in adjustment amplitude and difficult to meet the actual calibration requirement, and provides a support device with high degree of freedom and large adjustment amplitude and a laser radar calibration device with the support device.
To this end, the invention provides a support device comprising a displacement assembly, arranged on the roof of a vehicle, comprising at least one mounting base movable relative to the roof surface;
the turnover mechanism is arranged on the mounting base and can turn over and rotate relative to the roof surface;
and the lifting mechanism is fixed on the turnover mechanism and is provided with a moving end capable of moving up and down relative to the roof surface.
Optionally, the rack device, the turnover mechanism comprises,
a first rotating member hinged with the mounting base, and a first driving member driving the first rotating member to turn over relative to the mounting base, an
The second rotating part is hinged with the first rotating part, and the second driving part drives the second rotating part to overturn relative to the first rotating part.
Optionally, in the bracket device, the first rotating member is an outer bowl with a bowl-shaped structure, and the second rotating member has an overturning part which is arranged in the outer bowl and is matched with the outer bowl in shape.
Optionally, in the bracket device, the second rotating member is a bowl-shaped inner bowl, and the outer side wall of the inner bowl is the turning part.
Optionally, in the bracket device, the first driving member is a worm and gear structure disposed on the mounting base and the first rotating member, and the second driving member is a worm and gear structure disposed on the first rotating member and the second rotating member.
Optionally, in the bracket device, the first rotating member and the mounting base, and the second rotating member and the first rotating member are hinged through a shaft, respectively, the hinge joints of the first driving member and the first rotating member are symmetrically arranged, and the hinge joints of the second driving member and the second rotating member are symmetrically arranged.
Optionally, in the bracket device, the mounting base has an arc-shaped groove, and the inner side of the arc-shaped groove is matched with the outer wall of the first rotating member in shape.
Optionally, in the bracket device, the lifting mechanism is fixed in the middle of the second rotating member, and the lifting mechanism is a screw-type lifting mechanism formed by sleeving a plurality of loop bars in a threaded manner.
Optionally, in the bracket device, the displacement assembly further includes a first displacement mechanism and a second displacement mechanism which are slidably disposed with each other,
the second displacement mechanism is arranged above the first displacement mechanism in a sliding mode, and the mounting base is arranged on the second displacement mechanism;
the sliding direction of the second displacement mechanism and the extending direction of the first displacement mechanism are vertical to each other on a horizontal plane.
The invention also provides a laser radar calibration device which comprises at least one laser radar calibration structure and any one of the support devices, wherein the laser radar calibration structures are fixed on the moving end in a one-to-one correspondence manner.
The technical scheme of the invention has the following advantages:
1. the invention provides a bracket device, which comprises a displacement assembly, a bracket and a bracket, wherein the displacement assembly is arranged on a vehicle roof and comprises at least one mounting base which can move relative to the surface of the vehicle roof;
the turnover mechanism is arranged on the mounting base and can turn over and rotate relative to the roof surface;
and the lifting mechanism is fixed on the turnover mechanism and is provided with a moving end capable of moving up and down relative to the roof surface.
The support device with the structure comprises a displacement assembly, a turnover mechanism and a lifting mechanism, wherein the displacement assembly is arranged to realize linear movement along the direction parallel to the top surface of the vehicle, the turnover mechanism is arranged to realize turnover rotation relative to the top surface of the vehicle, and the lifting mechanism is arranged to move up and down relative to the top surface of the vehicle, so that the support device has higher movement freedom and larger adjustment amplitude; meanwhile, the matching of the displacement assembly, the turnover mechanism and the lifting mechanism is realized through the mounting base, and the integration level is higher.
2. The invention provides a support device, wherein a turnover mechanism comprises a first rotating part hinged with an installation base, a first driving part for driving the first rotating part to turn relative to the installation base, a second rotating part hinged with the first rotating part and a second driving mechanism for driving the second rotating part to turn relative to the first rotating part, the first rotating part is hinged with the installation base, so that the first rotating part is driven by the first driving part to turn relative to the installation base, and the second rotating part is driven by the second driving part to turn relative to the first rotating part by the first rotating part and the second rotating part, so that the rotation of two degrees of freedom of the support is realized, the degrees of freedom in two rotation directions are integrated, the structure is more compact, and the degree of freedom is higher.
3. According to the bracket device provided by the invention, the first driving piece and the second driving piece are both worm and gear mechanisms, so that the structure is more compact, and the available transmission ratio is very large; meanwhile, the driving mechanism of the worm and gear is adopted for adjustment, the mechanical structure is pure, energy sources such as electric power do not need to be consumed, the energy-saving and environment-friendly effects are achieved, and the cost is lower.
4. According to the bracket device provided by the invention, the first rotating part is the bowl-shaped outer bowl, the second rotating part is the inner bowl matched with the bowl-shaped outer bowl, and the arrangement of a sleeved structure of the inner bowl and the outer bowl is adopted, so that the structure is more compact, and the height of the whole device is reduced.
5. According to the support device provided by the invention, the lifting mechanism is a screw type lifting mechanism with a sleeved rod in a threaded manner, a threaded sleeved structure is adopted, the lifting mechanism can be fixed at a required height after being lifted by utilizing the self-locking function of threads, other auxiliary fixing structures are not required to be added, the structure is simple, the cost is low, and the adjustment is convenient.
6. According to the support device provided by the invention, scales are arranged on the displacement assembly, the lifting mechanism and the turnover mechanism, so that the displacement assembly, the lifting mechanism and the turnover mechanism can be conveniently and visually penetrated through the moving distance, the lifting height and the turnover angle.
7. According to the bracket device provided by the invention, the first rotating part, the second rotating part, the first driving part and the second driving part are hinged through the shaft, so that the disassembly and assembly are convenient, the operation is simple, and the principle of the Okamu razor is met.
8. The laser radar calibration device is arranged on the mounting bracket, so that the degree of freedom is higher, the adjustment amplitude is larger, the scanning range of the laser radar calibration structure is wider, the mounting and debugging time is short, the calibration work of a plurality of laser radar calibration structures can be quickly realized, the test is quick, and the data acquisition is more comprehensive and accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a front view structural diagram of an assembly of a bracket device and a laser radar calibration device in an embodiment of the present invention;
FIG. 2 is a schematic structural view of a holder device according to an embodiment of the present invention (displacement assembly omitted);
FIG. 3 is a schematic view of a structure of the support device of the present invention, in which the turnover mechanism is engaged with the mounting base;
FIG. 4 is a schematic structural view of a first rotating member of the turnover mechanism of the rack device according to the embodiment of the present invention;
FIG. 5 is a schematic structural view of a second rotating member of the turning mechanism of the rack device according to the embodiment of the present invention;
FIG. 6 is a schematic structural view of a mounting base of the bracket assembly in an embodiment of the present invention;
fig. 7 is an exploded view of the lifting mechanism of the rack device in an embodiment of the present invention.
Description of reference numerals:
1-a displacement assembly; 11-a first displacement mechanism; 111-a first guide rail; 112-a first slider; 121-a second guide rail; 122-a second slider; 12-a second displacement mechanism;
2-installing a base; 20-arc groove; 21-a first fixing frame; 22-a first hinge ear;
3-turning over the mechanism; 31-a second rotating member; 311-a fourth hinge ear; 32-a first rotating member; 320-a receiving cavity; 321-a second fixing frame; 322-a second hinge ear; 323-third hinge ear; 33-a first drive member; 331-a first worm; 332-a first turbine; 34-a second drive member; 341-second worm; 342-a second turbine;
4-a lifting mechanism; 41-a first loop bar; 42-a second loop bar; 43-a third loop bar;
5-laser radar calibration structure.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
The rack apparatus of the present embodiment, as shown in fig. 1 to 7, includes a displacement assembly 1, a turnover mechanism 3 and a lifting mechanism 4, wherein the displacement assembly 1 is disposed on a vehicle roof (not shown), and includes at least one mounting base 2 capable of moving relative to the vehicle roof; the turnover mechanism 3 is arranged on the mounting base 2 and can turn over and rotate relative to the roof surface; and a lifting mechanism 4 fixed on the turnover mechanism 3 and having a moving end capable of moving up and down relative to the roof surface.
The support device with the structure comprises a displacement assembly 1, a turnover mechanism 3 and a lifting mechanism 4, linear movement in the direction parallel to the top surface of the vehicle is realized through the arrangement of the displacement assembly 1, turnover rotation relative to the top surface of the vehicle is realized through the arrangement of the turnover mechanism 3, and the lifting mechanism 4 moves in the vertical direction relative to the top surface of the vehicle, so that the support device has higher movement freedom and larger adjustment amplitude; meanwhile, the displacement assembly 1, the turnover mechanism 3 and the lifting mechanism 4 are assembled and matched through the mounting base 2, and the integration level is higher.
As for the mounting base 2, as shown in fig. 2 and 6, the mounting base 2 is block-shaped and has an arc-shaped groove 20 in the middle, and the inner side of the arc-shaped groove 20 is matched with the outer wall of the first rotating member 32; as shown in fig. 6, two first fixing frames 21 are disposed at an interval on the right end face of the mounting base 2, and a U-shaped opening slot (not shown) is opened on the first fixing frame 21 for placing the first worm 331 of the first driving member 33. Alternatively, the curved groove 20 may not be adapted to the shape of the outer wall of the first rotating member 32, for example, it may also be U-shaped or U-shaped, so long as it is ensured that the outer wall of the first rotating member 32 does not interfere with the inner wall of the curved groove 20, i.e. the first rotating member 32 can rotate freely in the curved groove. Alternatively, the mounting base 2 may be two structures arranged oppositely, and an avoiding space for the first rotating member 32 to turn is formed in the middle. Alternatively, the U-shaped opening slot on the first fixing frame 21 can be replaced by a circular hole, and the first worm 331 of the first driving member 33 is rotatably disposed in the two circular holes and fixed on the first fixing frame 21.
For the turnover mechanism 3, the turnover mechanism comprises a first rotating member 32, a first driving member 33 for driving the first rotating member 32 to turn relative to the mounting base 2, a second rotating member 31 hinged with the first rotating member 32, and a second driving member 34 for driving the second rotating member 31 to turn relative to the first rotating member 32; specifically, as shown in fig. 2 to 5, the first rotating member 32 is an outer bowl of a bowl structure, and the second rotating member 31 has a turning part (not shown) which is arranged in the outer bowl and is matched with the outer bowl in shape; the second rotating member 31 is a bowl-shaped inner bowl, and the outer side wall of the inner bowl is a turning part; that is to say, interior bowl and outer bowl all are the hemisphere shape, and cup joint inside and outside between interior bowl and the outer bowl, and the radius of sphere that also says so interior bowl will be less than the radius of sphere of outer bowl, has hemispherical chamber 320 that holds in the outer bowl, and interior bowl is in this hemispherical chamber 320 that holds, and has certain clearance between the lateral wall of interior bowl and the inside wall of outer bowl to ensure that interior bowl can freely overturn for outer bowl.
The first rotation member 32 and the mounting base 2, and the second rotation member 31 and the first rotation member 32 are respectively hinged by a shaft (not shown), the hinge joint of the first driving member 33 and the first rotation member 32 is symmetrically arranged, and the hinge joint of the second driving member 34 and the second rotation member 31 is symmetrically arranged. Specifically, as shown in fig. 3 and 4, two second fixing frames 321 arranged at an interval are disposed on the left side wall of the first rotating member 32, a U-shaped opening slot is formed on the second fixing frame 321, a semicircular second hinge lug 322 arranged along the Z-axis direction is disposed on the upper edge of the first rotating member 32 and above the second fixing frame 321, a semicircular second hinge lug 322 is also correspondingly disposed on the upper edge of the first rotating member 32 on the side opposite to the semicircular second hinge lug 322, that is, the two semicircular second hinge lugs 322 are disposed at two ends of the diameter of the first rotating member 32 along the Y-axis direction; in order to realize the hinged connection of the first rotating member 32 and the mounting base 2, a semicircular third hinge lug 323 corresponding to the semicircular first hinge lug 22 on the mounting base 2 is arranged on the upper edge of the first rotating member 32, that is, two semicircular third hinge lugs 323 are also arranged on two ends of the diameter of the first rotating member 32 in the X-axis direction and are used for being hinged with the semicircular first hinge lug 22 on the mounting base 2 through a shaft; as shown in fig. 3 and 5, in order to realize the hinge connection of the first rotating member 32 and the second rotating member 31, semicircular fourth hinge lugs 311 corresponding to the semicircular second hinge lugs 322 at both ends of the diameter of the first rotating member 32 in the Y-axis direction are provided at both ends of the diameter of the second rotating member 31 in the Y-axis direction, and the first rotating member 32 and the second rotating member 31 are hinge-connected by a shaft passing through the second hinge lugs 322 and the fourth hinge lugs 311.
As for the first driving member 33 and the second driving member 34, the first driving member 33 is a worm gear structure provided on the mounting base 2 and the first rotating member 32, and the second driving member 34 is a worm gear structure provided on the first rotating member 32 and the second rotating member 31. Specifically, as shown in fig. 2 and 3, the first driving member 33 includes a first worm 331 and a first worm wheel 332, the first worm 331 is T-shaped and can be horizontally placed on two oppositely arranged first fixing frames 21 of the mounting base 2 in a rotatable manner, and a threaded portion is provided at a portion between two U-shaped opening grooves on the first fixing frame 21; the first worm gear 332 is arranged above the first fixing frame 21 and provided with threads which are matched with and normally meshed with the threads on the first worm gear 332, semicircular first hinge lugs 22 arranged along the Z-axis direction are oppositely arranged at the front end and the rear end of the mounting base 2, the first hinge lug 22 at the front end is positioned right above the first fixing frame 21, the first worm gear 332 is connected with the first hinge lug 22 and the third hinge lug 323 through a shaft, and the first worm 331 rotates in the front-rear direction to drive the first worm gear 332 to rotate in the left-right direction and drive the first rotating part 32 to turn around the X-axis direction relative to the mounting base 2; the second driving member 34 includes a second worm 341 and a second worm gear 342, the second worm 341 is T-shaped and horizontally disposed on the second fixing frame 321 on the left side of the first rotating member 32, and a screw thread portion is disposed at a portion between the second fixing frames 321, the second worm gear 342 is provided with a screw thread which is matched with the screw thread on the second worm 341 and is normally engaged with the screw thread, the second worm gear 342 is hinged to the second hinge lug 322 and the fourth hinge lug 311 through a shaft, and the second worm gear 342 is driven to rotate in the front-back direction and to rotate in the front-back direction through the rotation of the second worm 341 in the left-right direction to drive the second rotating member 31 to turn around the Y-axis direction. Optionally, scales (not shown) are further provided on the side walls of the first rotating member 32 and the second rotating member 31, and the turning angle of the first rotating member 32 relative to the mounting base 2 and the turning angle of the second rotating member 31 relative to the first rotating member 32 can be known through the scales. The structures of the first worm gear 332, the first worm 331, the second worm gear 342, and the second worm 341 are prior art, and will not be described or limited in detail herein, and are not the inventive point of the present invention.
For the lifting mechanism 4, the lifting mechanism 4 is fixed in the middle of the second rotating member 31, specifically, as shown in fig. 2, the lifting mechanism 4 is arranged in the middle of the bottom of the inner bowl, and the lifting mechanism 4 is a screw type lifting mechanism formed by sleeving a loop bar in a threaded manner. Specifically, as shown in fig. 7, the lifting mechanism 4 is composed of three cylindrical rods which are screwed up and down along the Z-axis direction, and are respectively named as a first rod 41, a second rod 42 and a third rod 43 from bottom to top, the bottom of the first rod 41 is fixed in the middle of the second rotating member 31, and the second rod 42 and the third rod 43 are spirally lifted and lowered at the upper end of the first rod 41 to form a moving end. The number of the loop bars can be two, four and the like, and the loop bars are not particularly limited and described and are not the invention points of the invention. Optionally, scales are further arranged on the outer wall of the loop bar, so that an operator can know the lifting height conveniently.
For the displacement assembly 1, the displacement assembly further comprises a first displacement mechanism 11 and a second displacement mechanism 12 which can be mutually slidably arranged, the second displacement mechanism 12 is slidably arranged above the first displacement mechanism 11, and the mounting base 2 is arranged on the second displacement mechanism 12; the sliding direction of the second displacement mechanism 12 and the extending direction of the first displacement mechanism 11 are perpendicular to each other in the horizontal plane. Specifically, as shown in fig. 1, the first displacement mechanism 11 includes two first guide rails 111 arranged in parallel at intervals in the front-rear direction and extending along the Y-axis direction, and two first sliders 112 slidably disposed on the two first guide rails 111, and the first guide rails 111 are fixed on the roof of the vehicle; the second displacement mechanism 12 comprises a second guide rail 121 fixed on the two first sliders 112 and extending along the X-axis direction, and three second sliders 122 slidably arranged on the second guide rail 121, and the three mounting bases 2 are fixed on the three second sliders 122 in a one-to-one correspondence; the number of the second sliding blocks 122 can also be one, two, four, etc., and correspondingly, the number of the mounting bases 2 can also be one, two, four, etc.; the number for the second rail 121 may also be two, three, etc.; the number of the first guide rails 111 may be one, three, and so on, and correspondingly, the number of the first sliding blocks 112 may also be one, three, and so on, and is not particularly limited and described; the structure and the matching manner of the first guide rail 111, the second guide rail 121, the first slider 112 and the second slider 122 are prior art and will not be described and limited in detail herein. Optionally, scales (not shown) are further provided on the first rail 111 and the second rail 121.
As a first alternative, the second rotation element 31 may also be provided as a spherical mechanism, either entirely within the first rotation element 32 or with only a lower half portion within the first rotation element 32.
As a second alternative, the first and second rotating members 32, 31 may also be of a birfield joint construction.
As a third alternative, the two second hinge lugs 322 on the first rotating member 32 and the corresponding two fourth hinge lugs 311 on the second rotating member 31 may be disposed asymmetrically, i.e. not at the two ends of the diameter along the Y-axis direction, and may be disposed at an angle smaller than 180 ° between the two second hinge lugs 322, and correspondingly, the two fourth hinge lugs 311 are also disposed at an angle smaller than 180 ° correspondingly.
Example 2
The laser radar calibration device provided by the embodiment comprises at least one laser radar calibration structure 5 and the support device of the embodiment 1, wherein the laser radar calibration structures are fixed on the movable end in a one-to-one correspondence manner.
Because laser radar marks structure 5 and sets up on foretell strutting arrangement, consequently, laser radar marks structure 5 can be along X axle direction along with strutting arrangement, linear motion along Y axle direction, linear lift along Z axle direction removes and around the rotary motion of X axle direction and around the rotary motion of Y axle direction, make laser radar mark the removal that the structure can realize five degrees of freedom, the degree of freedom is more, the scope that can mark is wider, the image data who obtains is more comprehensive, the installation and debugging that reduces the development personnel can be quick realize the demarcation work of a plurality of laser radar mark structures, the test is quick, and the collection of data is more comprehensive accurate.
For the laser radar calibration structure, such as the existing laser radar calibration sensor, the specific structure and the working principle are not described and limited in detail herein.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (7)
1. A stent device, comprising:
a displacement assembly (1) arranged on the roof of the vehicle and comprising at least one mounting base (2) movable relative to the roof surface;
the turnover mechanism (3) is arranged on the mounting base (2) and can turn over and rotate relative to the roof surface;
the turning mechanism (3) comprises: a first rotating member (32) hinged to the mounting base (2) by a first hinge axis, and a first driving member (33) mounted on the mounting base (2) for driving the first rotating member (32) to turn around the axis of the first hinge axis; a second rotating member (31) hinged to the first rotating member (32) by a second hinge axis, and a second driving member (34) mounted on the first rotating member (32) for driving the second rotating member (31) to turn around the axis of the second hinge axis; the first rotating piece (32) is an outer bowl with a bowl-shaped structure, and the second rotating piece (31) is provided with a turnover part which is arranged in the outer bowl and is matched with the outer bowl in shape; the second rotating piece (31) is a bowl-shaped inner bowl, and the outer side wall of the inner bowl is the overturning part; the inner bowl is positioned in the hemispherical accommodating cavity of the outer bowl;
the mounting base (2) is provided with a first hinge lug (22), two second hinge lugs (322) are arranged at two ends of the diameter of the first rotating piece (32) along the Y-axis direction, two third hinge lugs (323) are arranged at two ends of the diameter of the first rotating piece (32) along the X-axis direction, and fourth hinge lugs (311) are arranged at two ends of the diameter of the second rotating piece (31) along the Y-axis direction; the first hinge shaft is arranged on the first hinge lug (22) and the third hinge lug (323) in a penetrating way, and the second hinge shaft is arranged on the second hinge lug (322) and the fourth hinge lug (311) in a penetrating way;
the first driving piece (33) is connected with the first hinge shaft, the first driving piece (33) drives the first hinge shaft to rotate, and the first hinge shaft drives the first rotating piece (32) to rotate around the first hinge shaft;
the second driving piece (34) is connected with the second hinge shaft, the second driving piece (34) drives the second hinge shaft to rotate, and the second hinge shaft drives the second rotating piece (31) to rotate around the second hinge shaft;
and a lifting mechanism (4) which is fixed on the second rotating member (31) and has a moving end capable of moving up and down relative to the roof surface.
2. A bracket device according to claim 1, characterized in that the first drive member (33) is a worm gear structure provided on the mounting base (2) and the first rotation member (32), and the second drive member (34) is a worm gear structure provided on the first rotation member (32) and the second rotation member (31).
3. A rack device as claimed in claim 2, characterized in that said first rotation member (32) and said mounting base (2), and said second rotation member (31) and said first rotation member (32) are respectively hinged by means of a shaft, the hinging points of said first driving member (33) and said first rotation member (32) being symmetrically arranged, and the hinging points of said second driving member (34) and said second rotation member (31) being symmetrically arranged.
4. A bracket device according to any of the claims 1-3, characterized in that the mounting base (2) has an arc-shaped groove (20), the inner side of the arc-shaped groove (20) being form-fitted to the outer wall of the first rotation element (32).
5. A support device according to any one of claims 1-3, wherein the lifting mechanism (4) is fixed in the middle of the second rotating member (31), and the lifting mechanism (4) is a screw-type lifting mechanism formed by a plurality of sleeve rods in a threaded sleeve manner.
6. A holder device according to claim 1, wherein the displacement assembly (1) further comprises a first displacement mechanism (11) and a second displacement mechanism (12) slidably arranged to each other,
the second displacement mechanism (12) is arranged above the first displacement mechanism (11) in a sliding manner, and the mounting base (2) is arranged on the second displacement mechanism (12);
the sliding direction of the second displacement mechanism (12) and the extending direction of the first displacement mechanism (11) are vertical to each other on a horizontal plane.
7. Lidar calibration arrangement, characterized in that it comprises at least one lidar calibration structure (5) and a support arrangement according to any of claims 1 to 6, said lidar calibration structures (5) being fixed on the mobile end in a one-to-one correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911299691.9A CN111025264B (en) | 2019-12-16 | 2019-12-16 | Support device and laser radar calibration device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911299691.9A CN111025264B (en) | 2019-12-16 | 2019-12-16 | Support device and laser radar calibration device |
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| CN111025264A CN111025264A (en) | 2020-04-17 |
| CN111025264B true CN111025264B (en) | 2022-04-15 |
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| CN111976612B (en) * | 2020-09-04 | 2021-09-24 | 上汽大众汽车有限公司 | Self-adaptive calibration-free support assembly |
| CN116879872B (en) * | 2023-09-05 | 2023-11-07 | 家园数字科技(吉林省)有限公司 | Laser radar calibration equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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