CN116973885A - Carbon fiber reference system for laser radar - Google Patents
Carbon fiber reference system for laser radar Download PDFInfo
- Publication number
- CN116973885A CN116973885A CN202311232754.5A CN202311232754A CN116973885A CN 116973885 A CN116973885 A CN 116973885A CN 202311232754 A CN202311232754 A CN 202311232754A CN 116973885 A CN116973885 A CN 116973885A
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- China
- Prior art keywords
- lower frame
- carbon fiber
- nodes
- standard
- reference columns
- Prior art date
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- 229920000049 Carbon (fiber) Polymers 0.000 title claims abstract description 25
- 239000004917 carbon fiber Substances 0.000 title claims abstract description 25
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 title claims abstract description 25
- 230000002457 bidirectional effect Effects 0.000 claims abstract description 12
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000005484 gravity Effects 0.000 description 3
- PPBRXRYQALVLMV-UHFFFAOYSA-N Styrene Chemical compound C=CC1=CC=CC=C1 PPBRXRYQALVLMV-UHFFFAOYSA-N 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000007665 sagging Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920001225 polyester resin Polymers 0.000 description 1
- 239000004645 polyester resin Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002791 soaking Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention relates to a carbon fiber reference system for a laser radar, which comprises a lower frame, a plurality of supporting feet, four main reference columns, a plurality of auxiliary reference columns and a plurality of standard balls, wherein the lower frame is a rectangular frame and is provided with two rows of connecting nodes which are arranged in m rows, m is a natural number larger than 2, the lower frame comprises m-1 pairs of X-direction connecting rods and m Y-direction connecting rods, the main reference columns are respectively connected with the connecting nodes at four corners of the lower frame, the lower ends of the auxiliary reference columns are connected with the connecting nodes outside the four corners, the connecting nodes where one auxiliary reference column is positioned are long fixed blocks which are directly connected with the supporting feet, the other connecting nodes are short fixed blocks which are respectively connected with the supporting feet through XY bidirectional sliding blocks, and the main reference columns, the auxiliary reference columns, the X-direction connecting rods and the Y-direction connecting rods are carbon fiber tubes. The standard balls of the reference system are numerous in number, the surface position of the frame can be accurately calibrated, the positioning accuracy is little influenced by the environmental temperature, the weight is light, the stress deformation is small, and the positioning is accurate.
Description
Technical Field
The invention relates to the technical field of positioning devices, in particular to a carbon fiber reference system for a laser radar.
Background
On an assembly line of automobile production, the white automobile body needs to be measured accurately after certain processing treatment, and hundreds of measuring points on the white automobile body need to be detected before the white automobile body leaves the assembly line. At present, a laser radar is generally used in the industry to cooperate with a mechanical arm to scan a frame on line, scanned physical travel data and theoretical data are compared and presumed to obtain actual production deviation of the frame, and a position reference is required to be established in the comparison process.
Chinese patent CN114353729a discloses a method and system for calibrating the vehicle center line, wherein the reference position is a metal ball of the front and rear reference device. However, only the center line of the calibration vehicle is considered here and no reference is provided to various locations on the entire frame. If a reference bracket is built and a plurality of metal balls are arranged, most of connecting sections are made of steel materials or aluminum alloy materials, the materials are sensitive to temperature change, reference can be inaccurate, and the precision of laser radar detection cannot be matched.
The carbon fiber tube is also called carbon fiber tube, and is prepared by pre-soaking a carbon fiber composite material into styrene-based polyester resin, and heating, curing and pultrusion (winding) the carbon fiber composite material. During the manufacturing process, various profiles can be produced by different moulds. Because the carbon fiber tube has the characteristics of high tensile strength, low thermal deformation, low density and light weight, the carbon fiber tube is widely applied to positioning and detecting brackets.
Although the bracket made of the carbon fiber tube can be used as a reference of the position of the frame, the material of the bracket can resist deformation caused by temperature change, the deformation of the fixed ground can generate deviation of the fixed position, and the deformation of the bracket is brought in, so that the accuracy of reference is reduced.
There is therefore a need to devise a new reference system to solve the above problems.
Disclosure of Invention
The invention mainly aims to provide a carbon fiber reference system for a laser radar, which can be used for providing a position reference for laser radar scanning and can reduce the precision problem caused by temperature change.
The invention realizes the aim through the following technical scheme: the utility model provides a carbon fiber benchmark system for laser radar, includes the lower frame, connects a plurality of supporting legs between lower frame lower part and the ground, connect in four main benchmark posts and a plurality of vice benchmark posts on lower frame upper portion and distribute in lower frame the main benchmark post with a plurality of standard balls on the vice benchmark post, the lower frame is rectangular frame and has two rows of m to arrange the connected node, and m is greater than 2 natural number, the lower frame includes m-1 to X to connecting rod and m to connecting rod, X to connecting rod connects X to adjacent connected node, Y to connecting rod connects Y to adjacent connected node, main benchmark post connect respectively in the connected node in lower frame four corners, the lower extreme of vice benchmark post is connected in the connected node outside the four corners, and its a pair of benchmark post place connected node is the long fixed block of direct connection supporting legs, and other connected node are the short fixed block of supporting legs through XY bidirectional slider connection respectively, main benchmark post the vice benchmark post X to Y to adjacent connected node.
Specifically, the XY bidirectional slide blocks in the same row with the long fixed block are fixed in the Y direction, and the XY bidirectional slide blocks in different rows with the long fixed block have the degree of freedom of XY bidirectional movement.
Specifically, the length of the auxiliary reference column is 1/3-2/3 of the length of the main reference column.
Specifically, a plurality of Z-direction standard nodes are distributed on each main reference column and each auxiliary reference column at equal intervals, and one standard ball is arranged on both X-direction sides and both Y-direction sides of each Z-direction standard node.
Specifically, standard nodes are distributed on each X-direction connecting rod and each Y-direction connecting rod at equal intervals, and one standard ball is fixed on both sides and above each standard node.
The technical scheme of the invention has the beneficial effects that:
1. the number of standard balls of the reference system is large and the standard balls are distributed on the front, back, left, right and side of the frame, so that a plurality of standard balls can be found nearby during laser radar detection, and then the surface position of the frame is accurately calibrated, and whether the production deviation is in an acceptable range or not is known;
2. the reference system is fixed on the ground through the connecting node where one pair of reference columns is positioned, and other connecting nodes release horizontal errors caused by ground deformation through the XY bidirectional sliding blocks, so that the positioning accuracy is little influenced by the environmental temperature;
3. the main reference column, the auxiliary reference column, the X-direction connecting rod and the Y-direction connecting rod on the reference system are all carbon fiber tubes, so that the weight of the main reference column, the auxiliary reference column, the X-direction connecting rod and the Y-direction connecting rod can be reduced, stress deformation caused by gravity can be avoided, expansion deformation caused by temperature change can be reduced, and the position precision of each standard ball can be accurate to be within a range of 0.05mm by matching the connecting structure.
Drawings
Fig. 1 is a perspective view of a carbon fiber reference system for a lidar of example 1;
FIG. 2 is an enlarged view of a portion of the position A of FIG. 1;
FIG. 3 is an enlarged view of a portion of the B position of FIG. 1;
FIG. 4 is a diagram of the positional relationship between a reference system and a fixture;
fig. 5 is a front view of the datum system, the fixture, and the frame when mated.
The figures represent the numbers:
1-a reference system, wherein,
11-lower frame, 111-X-direction connecting rod, 112-Y-direction connecting rod, 113-long fixed block, 114-short fixed block,
a 12-a support foot for the patient,
13 a-primary reference column, 13 b-secondary reference column,
14-a standard ball of which the shape is a sphere,
15-XY bi-directional sliders;
2-fixing a tool;
3-a frame.
Detailed Description
The present invention will be described in further detail with reference to specific examples.
Examples:
as shown in fig. 1 to 3, a carbon fiber reference system 1 for a laser radar according to the present invention includes a lower frame 11, six support legs 12 connecting between the lower portion of the lower frame 11 and the ground, four main reference columns 13a and two sub-reference columns 13b connected to the upper portion of the lower frame 1, and a plurality of standard balls 14 distributed on the lower frame 11, the main reference columns 13a and the sub-reference columns 13b, the lower frame 11 being a rectangular frame and having two rows and three columns of connection nodes, the lower frame 11 including two pairs of X-direction links 111 and three Y-direction links 112, the X-direction adjacent connection nodes being connected by the X-direction links 111, the Y-direction adjacent connection nodes being connected by the Y-direction links 112, the lower ends of the four main reference columns 13a being connected to the connection nodes at four corners of the lower frame 11, the two sub-reference columns 13b being connection nodes connected to the middle of the long sides, the connection nodes where one sub-reference column 13b is located being a long fixed block 113 directly connecting the support legs 12, and the remaining five connection nodes being short fixed blocks 114 respectively connected to the support legs 12 through XY two-way sliders 15. The XY bi-directional slider 15 in the same row as the long fixed block 113 is fixed in the Y direction, and the XY bi-directional slider 15 in the different row from the long fixed block 113 has a degree of freedom of XY bi-directional movement.
The X direction is the length direction of the lower frame 11 and corresponds to the front-rear direction of the automobile; the Y direction is the width direction of the lower frame 11, and corresponds to the left-right direction of the automobile; the Z direction is a vertical direction and corresponds to the up-down direction of the automobile. In order to avoid sagging of the middle parts of the X-direction connecting rod 111 and the Y-direction connecting rod 112 due to too long, the lengths of the X-direction connecting rod 111 and the Y-direction connecting rod 112 are at most several meters, and if the size of the lower frame 11 is as long as several tens of meters, the lower frame 11 is formed by connecting more X-direction connecting rods 111 and Y-direction connecting rods 112 at connecting nodes, and a supporting foot 12 is connected below each connecting node to prevent sagging. In practical applications, the size and structure of the lower frame 11 may be changed according to the detection object. The lower frame 11 has two rows of m connecting nodes distributed in m rows, m is a natural number greater than 2, and m-1 pairs of X-direction connecting rods 111 and m Y-direction connecting rods 112 are used, wherein the X-direction connecting rods 111 connect the adjacent connecting nodes in the X direction, and the Y-direction connecting rods 112 connect the adjacent connecting nodes in the Y direction. The axes of all the X-direction links 111 and Y-direction links 112 of the lower frame 11 are in the horizontal plane, so the reference positions of the 2m connection nodes need to be equal in height. Wherein one of the connection nodes closest to the centre of gravity of the lower frame 11 will serve as a positioning reference for the whole reference system 1, the relative positions of the other 2m-1 connection nodes being dependent on this one connection node. The XY bi-directional slider 15 is here a standard, since m-1 connection nodes in the same row as the fixed connection nodes are kept co-linear with them in the Y-direction, the XY bi-directional slider 15 used here is to fix the Y-direction, while the other m connection nodes in a different row from the fixed connection nodes have bi-directionally adapted degrees of freedom. Since lidar detection requires a very stable structure of the reference system 1, the ambient temperature has a relatively large influence on the deformation of the ground, even though the influence on the material itself is relatively small. If the ground is fixedly connected to the reference system 1 in a plurality of positions, deformation of the ground causes deformation of the reference system 1, and once a certain value is exceeded, the accuracy of the reference system 1 itself is no longer reliable. In order to avoid such an influence, the other five connection nodes cannot be directly connected to the ground, but pass through the XY two-way slider 15, and the influence of temperature on the position can be reduced only if the connection node is provided relatively close to the center of the reference system 1, so that the connection node where one of the sub-reference columns 13b is provided is selected, and the connection node where the main reference column 13a is not provided is not selected, otherwise, the accumulated error of the other connection node in the diagonal direction of the lower frame 11 may be large. When the ground is deformed, the supporting foot 12 keeps synchronous motion with the ground, but the XY bidirectional sliding block 15 can automatically adapt to XY bidirectional errors between the connecting node and the supporting foot 12, horizontal errors caused by ground deformation are released, and the supporting foot 12 only plays a role in jacking. The accuracy of the reference system 1 is less affected by the ambient temperature. Since the XY bi-directional slider 15 itself has a certain height, but the reference positions of all the connection nodes are kept at the same height, the short fixed block 114 is appropriately shortened as compared with the long fixed block 113.
The main reference column 13a, the sub reference column 13b, the X-direction link 111, and the Y-direction link 112 are all carbon fiber tubes.
The main reference column 13a, the auxiliary reference column 13b, the X-direction connecting rod 111 and the Y-direction connecting rod 112 are main connecting structures on the reference system 1, and the adoption of the carbon fiber tube material can reduce the self weight, avoid stress deformation caused by gravity and reduce expansion deformation caused by temperature change, and the position precision of each standard ball 14 can be accurate to be within the range of 0.05mm by matching the connecting structures.
As shown in FIG. 1, the length of the secondary reference column 13b is 1/3-2/3 of the length of the primary reference column 13 a.
The sub reference column 13b is located generally close to the door frame on the frame 3, and because the door frame of the automobile may be forward and rearward, the sub reference column 13b is not necessarily located at the center of the front and rear main reference columns 13 a. If the secondary reference column 13b is too long, it will block the detection frame 3 of the lidar mechanism, so it is shortened properly, so that the lidar mechanism can detect the frame 3 completely.
As shown in fig. 2 and 3, a plurality of Z-direction standard nodes are equally spaced on each main reference column 13a and each sub reference column 13b, and one standard ball 14 is provided on each X-direction and Y-direction side of each Z-direction standard node. Standard nodes are equidistantly distributed on each X-direction connecting rod 111 and each Y-direction connecting rod 112, and one standard ball 14 is fixed on both sides and above each standard node.
Since the lidar is generally detected from obliquely downward, the standard ball 14 is not disposed downward toward Z. For the main reference column 13a and the sub reference column 13b, the standard ball 14 may be provided around and at the top. Wherein 5 standard balls 14 are around the top standard node and 4 standard balls 14 are around the rest of the standard nodes. For the X-direction link 111, the Y-direction is on both sides; for the Y-direction link 112, the X-direction is flanked by two sides. Only two sides and three total positions above the X-direction link 111 and the Y-direction link 112 require the placement of the standard ball 14. 3-5 standard balls 14 around the same standard node can determine the actual location of the standard node.
As shown in fig. 4 and 5, the present reference system 1 is arranged, in use, around a fixed fixture 2, with a line (not shown) running through the middle of the reference system 1 along its length. Four main reference columns 13a limit a detection space, the fixed tool 2 is positioned in the detection space, the frame 3 enters the detection space from the assembly line, and then the laser radar detection can be started after the frame is fixed on the fixed tool 2. Because the number of the standard balls 14 is large and the standard balls are distributed on the front, back, left, right and side of the frame 3, a plurality of standard balls 14 can be always found nearby during laser radar detection, and then the surface position of the frame 3 is accurately calibrated, so that whether the production deviation is within an acceptable range is known.
What has been described above is merely some embodiments of the present invention. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit of the invention.
Claims (5)
1. A carbon fiber reference system for a lidar, characterized by: the device comprises a lower frame, a plurality of supporting feet connected between the lower part of the lower frame and the ground, four main reference columns, a plurality of auxiliary reference columns and a plurality of standard balls distributed on the lower frame, wherein the main reference columns and the auxiliary reference columns are arranged on the lower frame, the lower frame is a rectangular frame and is provided with two rows of connecting nodes which are arranged in m rows, m is a natural number larger than 2, the lower frame comprises m-1 pairs of X-direction connecting rods and m Y-direction connecting rods, the X-direction connecting rods are connected with X-direction adjacent connecting nodes, the Y-direction connecting rods are connected with Y-direction adjacent connecting nodes, the main reference columns are respectively connected with connecting nodes at four corners of the lower frame, the lower ends of the auxiliary reference columns are connected with connecting nodes outside the four corners, the connecting nodes where one auxiliary reference column is arranged are long fixed blocks which are directly connected with the supporting feet, the other connecting nodes are short fixed blocks which are respectively connected with the supporting feet through XY bidirectional sliding blocks, and the main reference columns, the auxiliary reference columns, the Y-direction connecting rods and the Y-direction connecting rods are carbon fiber tubes.
2. The carbon fiber reference system for a lidar according to claim 1, wherein: the XY bidirectional sliding blocks which are in the same row with the long fixed block are fixed in the Y direction, and the XY bidirectional sliding blocks which are in different rows with the long fixed block have the degree of freedom of XY bidirectional movement.
3. The carbon fiber reference system for a lidar according to claim 1, wherein: the length of the auxiliary reference column is 1/3-2/3 of the length of the main reference column.
4. The carbon fiber reference system for a lidar according to claim 1, wherein: a plurality of Z-direction standard nodes are distributed on each main reference column and each auxiliary reference column at equal intervals, and one standard ball is arranged on both X-direction and Y-direction sides of each Z-direction standard node.
5. The carbon fiber reference system for a lidar according to claim 1, wherein: standard nodes are distributed on each X-direction connecting rod and each Y-direction connecting rod at equal intervals, and one standard ball is fixed on both sides and above each standard node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311232754.5A CN116973885B (en) | 2023-09-22 | 2023-09-22 | Carbon fiber reference system for laser radar |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311232754.5A CN116973885B (en) | 2023-09-22 | 2023-09-22 | Carbon fiber reference system for laser radar |
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| CN116973885A true CN116973885A (en) | 2023-10-31 |
| CN116973885B CN116973885B (en) | 2024-01-16 |
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| CN116973885B (en) | 2024-01-16 |
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