CN113432536A - Target and target device - Google Patents
Target and target device Download PDFInfo
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- CN113432536A CN113432536A CN202110978135.5A CN202110978135A CN113432536A CN 113432536 A CN113432536 A CN 113432536A CN 202110978135 A CN202110978135 A CN 202110978135A CN 113432536 A CN113432536 A CN 113432536A
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- target
- shell
- spherical
- housing
- support
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
Abstract
The invention relates to a target and a target device, wherein the target comprises a spherical target with a containing cavity and a mounting rack which can be arranged in the containing cavity, and the spherical target comprises a first target shell and a second target shell which can be clamped with the first target shell; the first target shell and the second target shell can form the spherical target when being clamped, and the mounting rack is positioned in the accommodating cavity; when the first target housing is separated from the second target housing, the mounting is exposed to the spherical target, and the mounting is used for mounting a non-spherical target. The target meets different target requirements through the clamping connection or the separation of the first target shell and the second target shell, and the aims of overcoming the target scene adaptation problem and improving the universality of the target are fulfilled.
Description
Technical Field
The present invention relates to the field of target technology, and more particularly, to a target and a target device.
Background
The target is an important device for acquiring and processing data of the three-dimensional laser scanner, has various forms, comprises a target ball form, target paper and the like, can provide spliced coincident points for multi-site data, and can also be set into a special form for the necessary characteristic data of the mobile three-dimensional laser scanner during the operation of the SLAM (simultaneous localization and mapping) technology.
The current market targets are single in type and play a role in a specific scene, for example, the spherical targets are often used for a standing three-dimensional laser scanner, and three spherical points determine the splicing of two stations. The target paper and the target plate are used for providing characteristic elements for mobile three-dimensional laser scanning, and providing tracking information and a description scene of closed-loop detection for a visual SLAM algorithm. Each instrument uses a special target, and has no universality, and moreover, the adaptability of the scene is poor.
Therefore, it is desirable to provide a target device to overcome the target scene adaptation problem and improve the target universality.
Disclosure of Invention
Based on the above, the invention provides a target and a target device, which meet different target requirements by clamping or separating a first target shell and a second target shell, and achieve the purposes of overcoming the target scene adaptation problem and improving the universality of the target.
A target comprises a spherical target with a containing cavity and a mounting rack which can be arranged in the containing cavity, wherein the spherical target comprises a first target shell and a second target shell which can be clamped with the first target shell;
the first target shell and the second target shell can form the spherical target when being clamped, and the mounting rack is positioned in the accommodating cavity;
when the first target housing is separated from the second target housing, the mounting is exposed to the spherical target, and the mounting is used for mounting a non-spherical target.
In one embodiment, the first target body is hemispherical and the second target body is hemispherical.
In one embodiment, a plurality of coaxial first convex rings are formed on the spherical surface of the first target shell, and the plurality of first convex rings are arranged from the center to the edge of the first target shell;
a plurality of coaxial second convex rings are formed on the spherical surface of the second target shell, and the second convex rings are arranged from the center to the edge of the second target shell.
In one embodiment, the target further includes a first resilient member resiliently coupled between the first target housing and the mount, and a second resilient member resiliently coupled between the second target housing and the mount, the mount being positioned between the first resilient member and the second resilient member.
In one embodiment, the first target housing is made of a carbon fiber material and the surface of the first target housing is coated with a white fluorescent fuel;
the second target housing is made of a carbon fiber material, and a surface of the second target housing is coated with a white fluorescent fuel.
In one embodiment, the non-spherical target comprises a target plate or target paper.
In one embodiment, the target further comprises a threaded connecting rod connected to the mounting bracket, the threaded connecting rod extending from the spherical target and threadably connecting to a target support.
According to the target, the first target shell and the second target shell are connected in the clamping direction to form the spherical target with the containing cavity, and the mounting frame is mounted in the containing cavity of the spherical target. If a spherical target is needed, the first target shell and the second target shell are only required to be in a clamping state, if an aspheric target (such as a target plate or target paper) is needed, the clamping state of the first target shell and the second target shell is removed, the first target shell and the second target shell are separated, and therefore the mounting frame is exposed, and the needed aspheric target is installed. The target can meet different target requirements in different states, can overcome the target scene adaptation problem and improve the universality of the target.
Meanwhile, the invention also provides a target device.
A target device comprises a target support frame and the target, wherein the target support frame comprises a target connecting seat for mounting the target and a supporting foot frame arranged below the target connecting seat. The target device meets different target requirements by clamping or separating a first target shell and a second target shell of the target, and achieves the purposes of overcoming the target scene adaptation problem and improving the universality of the target.
In one embodiment, the target further comprises a threaded connecting rod connected to the mounting bracket, the threaded connecting rod protruding from the spherical target and being threadably connected to the target connecting base.
In one embodiment, the support foot stand comprises a first support part movably connected with the target connecting seat, a second support part movably connected with the first support part and a third support part movably connected with the second support part;
the third support portion includes at least one of a support wheel or a support cone.
Drawings
Fig. 1 is a schematic structural view of a target of the present invention.
Fig. 2 is a schematic view of another angle of the target shown in fig. 1.
Fig. 3 is a schematic view of the target shown in fig. 1 as it is deployed.
FIG. 4 is a schematic structural diagram of the target board of the present invention.
Fig. 5 is a schematic structural view of a target holder of the target device of the present invention.
Fig. 6 is a schematic view of another target holder of the target device of the present invention.
Fig. 7 is a schematic diagram of a plurality of target devices of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 7, the target device according to an embodiment of the present invention includes a target support frame 2 and a target 1, where the target support frame 2 includes a target connection seat 21 for mounting the target 1 and a support foot 22 disposed below the target connection seat 21, and the target 1 is mounted on the target connection seat 21 to realize the mounting connection between the target 1 and the target support frame 2.
As shown in fig. 1 to 3, the target 1 includes a spherical target 11 having a receiving cavity and a mounting frame 12 capable of being disposed in the receiving cavity, and the spherical target 11 includes a first target housing 111 and a second target housing 112 capable of being clamped with the first target housing 111.
The first target housing 111 and the second target housing 112 can form the spherical target 11 when clamped together, and the mounting frame 12 is located in the receiving cavity.
When the first target housing 111 is separated from the second target housing 112, the mounting frame 12 is exposed to the spherical target 11, and the mounting frame 12 is used for mounting an aspherical target.
In the target 1, the first target casing 111 and the second target casing 112 are connected in the clamping direction to form a spherical target 11 having a receiving cavity, and a mounting frame 12 is installed in the receiving cavity of the spherical target 11. If a spherical target is required, it is only necessary to ensure that the first target casing 111 and the second target casing 112 are in a clamped state, and if an aspherical target (such as a target plate or target paper) is required, the clamped state between the first target casing 111 and the second target casing 112 is released, so that the first target casing 111 and the second target casing 112 are separated, and the mounting frame 12 is exposed to mount the required aspherical target. The target 1 can meet different requirements of the target 1 in different states, can overcome the scene adaptation problem of the target 1 and improve the universality of the target 1.
It should be noted that, in the embodiment of the present invention, the non-spherical target includes the target plate 3 (as shown in fig. 4) or the target paper. After the first target casing 111 and the second target casing 112 are separated and the target plate 3 is mounted on the mounting frame 12, GPS information can be configured as an important feature point for closed-loop detection of the SLAM algorithm, and an important data source for correcting a SLAM algorithm generation model can also be provided.
Specifically, as shown in fig. 4, when the non-spherical target is a target plate 3, a connecting frame 31 may be disposed on one side of the target plate 3, and the connecting frame 31 may be inserted into the mounting frame 12 to mount the target plate 3 on the mounting frame 12. When the non-spherical target is target paper, the target paper can be mounted on the mounting frame 12 by means of adhesion.
It should be noted that the pattern of the target plate 3 shown in fig. 4 is merely an example, and in practical applications, the pattern of the target plate 3 may be replaced according to actual needs, and the pattern of the target plate 3 is not limited herein.
In an embodiment, as shown in fig. 3, the target 1 further includes an integrated circuit board 13 that can be disposed in the receiving cavity, the integrated circuit board 13 can be mechanically connected (e.g., movably connected or fixedly connected) with the mounting frame 12, the integrated circuit board 13 is equipped with a GPS, and the GPS can be used as an important reference parameter for automatically splicing point cloud data by using parameters such as a positioning calculation coordinate and a distance, so as to be used for three-dimensional coordinates and precision between a settlement device and the target.
In one embodiment, the first target housing 111 and the second target housing 112 can be clamped by a knob. When the first target casing 111 and the second target casing 112 are separated from each other, the first target casing 111 and the second target casing 112 are simply rotated in opposite directions, so that the engagement therebetween can be released, and the mount is exposed to the spherical target 11.
Preferably, a first receiving groove is formed in the first target casing 111, a second receiving groove is formed in the second target casing 112, and when the first target casing 111 is clamped with the second target casing 112, the first receiving groove and the second receiving groove are connected to form the receiving cavity.
In one embodiment, as shown in fig. 2 and 3, the first target body 111 is hemispherical and the second target body 112 is hemispherical.
A plurality of coaxial first convex rings 1111 are formed on the spherical surface of the first target housing 111, and the plurality of first convex rings 1111 are arranged from the center to the edge of the first target housing 111.
A plurality of coaxial second convex rings 1121 are formed on the spherical surface of the second target housing 112, and the plurality of second convex rings 1121 are arranged from the center to the edge of the second target housing 112.
The arrangement of the first convex ring 1111 and the second convex ring 1121 can be adapted to provide different angle characteristics when implementing the SLAM algorithm.
In one embodiment, as shown in fig. 3, the mount 12 may be connected between the first target housing 111 and the second target housing 112 to prevent the mount 12 from being detached from the spherical target 11 when the first target housing 111 is separated from the second target housing 112.
Specifically, the target 1 further includes a first elastic member 14 and a second elastic member 15, the first elastic member 14 is connected between the first target housing 111 and the mounting frame 12, the second elastic member 15 is connected between the second target housing 112 and the mounting frame 12, and the mounting frame 12 is located between the first elastic member 14 and the second elastic member 15, so as to realize connection of the mounting frame 12 between the first target housing 111 and the second target housing 112.
When the first target housing 111 is separated from the second target housing 112, the first target housing 111 will spring away from the second target housing 112 under the action of the first spring 14, and the second target housing 112 will spring away from the first target housing 111 under the action of the second spring 15, thereby exposing the mount 12.
In one embodiment, as shown in fig. 1-3, the first target housing 111 is made of a carbon fiber material, and the surface of the first target housing 111 is coated with a white fluorescent fuel; the second target housing 112 is made of a carbon fiber material, and the surface of the second target housing 112 is coated with a white fluorescent fuel to meet the marking requirements of the spherical target 11.
In one embodiment, as shown in fig. 1-3, the target 1 further includes a threaded connecting rod 16 connected to the mounting bracket 12, the threaded connecting rod 16 protruding from the spherical target 11 and being threadably connectable to the target support frame 2 to mount the target 1 to the target support frame 2. Further, as shown in fig. 5 to 7, a threaded connection hole 211 is formed in the target connection seat 21, and the threaded connection rod 16 can be in threaded connection with the threaded connection hole 211 of the target connection seat 21, so that the target 1 and the target support frame 2 can be installed and connected.
In one embodiment, as shown in fig. 5 to 7, the support stand 22 includes a first support portion 221 movably connected to the target connecting seat 21, a second support portion 222 movably connected to the first support portion 221, and a third support portion 223 movably connected to the second support portion 222.
The third support 223 includes at least one of a support wheel (as shown in fig. 5) or a support cone (as shown in fig. 7). It will be appreciated that the third support portion 223 can be conveniently moved if a support wheel is selected, and preferably, the support wheel is a universal wheel. If the third supporting part 223 chooses for use the support awl, can insert soft soil layer, make mark target support frame 2 is more firm.
Further, the movable connection mode may be various, such as a rotating connection, a sliding connection, a socket connection, or a detachable splicing, and the like, which is not limited herein.
Specifically, in the embodiment shown in fig. 5 to 7, the first support portion 221 is rotatably connected to the target connecting base 21, the second support portion 222 is foldably connected (i.e., rotatably connected) to the first support portion 221, the second support portion 222 is provided with a receiving groove 2221, and the third support portion 223 is rotatably connected to the second support portion 222 and can be received in the receiving groove 2221, so as to achieve connection between the support portions.
In one embodiment, as shown in fig. 5 to 7, the plurality of support legs 22 are provided, and the plurality of support legs 22 are provided on the same circumference, the center of which is located on the central axis of the target connecting seat 21, so as to enhance the stability of the target holder 2. In the embodiment shown in fig. 5 to 7, three support legs 22 are provided, and the three support legs 22 are distributed in a triangular manner and are located on the same circumference.
In an embodiment, as shown in fig. 7, when a plurality of target devices are applied, a plurality of target supports 2 are provided, correspondingly, a plurality of targets 1 are provided, a plurality of targets 1 and a plurality of target supports 2 are provided in a one-to-one correspondence, and a cross bar 4 with adjustable length is provided between two adjacent target supports 2.
In the target device provided by the embodiment of the present invention, after the target 1 is mounted on the target support frame 2, the support legs 22 can be adjusted according to different scenes to adapt to different environments, and specifically, the target support frame 2 using three support legs 22 is taken as an example:
(1) in a planar terrain, the supporting legs 22 can be unfolded, the supporting wheels (universal wheels) hidden in the supporting legs 22 can be extended, and the three supporting legs 22 can be adjusted to be fixed in a triangular position. The target device can be provided with three supporting foot frames 22 with the same parameters, a specially matched cross rod 4 can be inserted between every two adjacent target supporting frames 2 to form a combined device fixed as an equilateral triangle, the cross rod 4 can be stretched, and after the device is installed, the three-point jigsaw work can be easily completed by moving any target 1;
(2) the internal topography of the pipeline can be folded and retracted to form supporting wheels (universal wheels), the three supporting foot frames 22 are placed in a triangular fixing mode, and the same cross rods 4 can still be used as balance equipment with a triangular fixing shape;
(3) in a slope environment, the supporting cone can be used for being inserted into soil to complete fixation.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A target, characterized by: the spherical target comprises a spherical target with a containing cavity and a mounting rack which can be arranged in the containing cavity, wherein the spherical target comprises a first target shell and a second target shell which can be clamped with the first target shell;
the first target shell and the second target shell can form the spherical target when being clamped, and the mounting rack is positioned in the accommodating cavity;
when the first target housing is separated from the second target housing, the mounting is exposed to the spherical target, and the mounting is used for mounting a non-spherical target.
2. A target according to claim 1, wherein: the first target shell is hemispherical, and the second target shell is hemispherical.
3. A target according to claim 2, wherein: a plurality of coaxial first convex rings are formed on the spherical surface of the first target shell, and the first convex rings are arranged from the center to the edge of the first target shell;
a plurality of coaxial second convex rings are formed on the spherical surface of the second target shell, and the second convex rings are arranged from the center to the edge of the second target shell.
4. A target according to claim 1, wherein: the target further comprises a first elastic piece and a second elastic piece, the first elastic piece is elastically connected between the first target shell and the mounting frame, the second elastic piece is elastically connected between the second target shell and the mounting frame, and the mounting frame is located between the first elastic piece and the second elastic piece.
5. A target according to claim 1, wherein: the first target housing is made of a carbon fiber material, and the surface of the first target housing is coated with white fluorescent fuel;
the second target housing is made of a carbon fiber material, and a surface of the second target housing is coated with a white fluorescent fuel.
6. A target according to claim 1, wherein: the non-spherical target comprises a target plate or target paper.
7. A target according to claim 1, wherein: the target further comprises a threaded connecting rod connected with the mounting frame, and the threaded connecting rod extends out of the spherical target and can be in threaded connection with a target supporting frame.
8. A target device, comprising: the target of any one of claims 1-6 and a target support, the target support comprising a target mount for mounting the target and a support foot disposed below the target mount.
9. A target device as set forth in claim 8, wherein: the target further comprises a threaded connecting rod connected with the mounting frame, and the threaded connecting rod extends out of the spherical target and can be in threaded connection with the target connecting seat.
10. A target device as set forth in claim 8, wherein: the support foot stand comprises a first support part movably connected with the target connecting seat, a second support part movably connected with the first support part and a third support part movably connected with the second support part;
the third support portion includes at least one of a support wheel or a support cone.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110978135.5A CN113432536B (en) | 2021-08-25 | 2021-08-25 | Target and target device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110978135.5A CN113432536B (en) | 2021-08-25 | 2021-08-25 | Target and target device |
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| Publication Number | Publication Date |
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| CN113432536A true CN113432536A (en) | 2021-09-24 |
| CN113432536B CN113432536B (en) | 2021-12-17 |
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| CN202110978135.5A Active CN113432536B (en) | 2021-08-25 | 2021-08-25 | Target and target device |
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