CN207752146U - A kind of self-checking device of laser radar transmitting light path coaxial - Google Patents
A kind of self-checking device of laser radar transmitting light path coaxial Download PDFInfo
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- CN207752146U CN207752146U CN201721649284.2U CN201721649284U CN207752146U CN 207752146 U CN207752146 U CN 207752146U CN 201721649284 U CN201721649284 U CN 201721649284U CN 207752146 U CN207752146 U CN 207752146U
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Abstract
The utility model discloses the self-checking devices that a kind of laser radar emits light path coaxial, are related to laser radar field.The device includes laser optical path to be regulated, standard reflection face, thermal camera, image analysis processing unit, precision three-dimensional motorized precision translation stage, wireless signal Transmit-Receive Unit and dispensing fixed cell, wherein, laser optical path includes laser alignment transmitter unit and Echo receiving unit, and laser alignment transmitter unit is located at Echo receiving unit center, precision three-dimensional motorized precision translation stage is connected with laser alignment transmitter unit, and laser emitting angle can be made adjustable in a certain range, by the location information for obtaining the laser facula on thermal camera image and analytical standard reflecting surface, it automatically controls precision three-dimensional motorized precision translation stage and carries out optical path adjusting.The present apparatus carries out troublesome operation adjusting without artificial, and visual fatigue when solving worker's production causes homogeneity of product poor, and properties of product fluctuate big problem；Production efficiency height, good product consistency.
Description
Technical field
The utility model is related to laser radar field, more particularly to a kind of adjusting dress of laser radar transmitting light path coaxial
It sets.
Background technology
Laser radar is just fast-developing with the swift and violent impetus at present, and in industrial manufacture, warehousing management, wisdom traffic, intelligence
Energy robot etc. various aspects affect us, offer convenience to our daily lifes.Unmanned, three-dimensional map structure, AGV
The figure of none too busy to get away laser radar of intelligent repository trolley, locomotive profile size detection, road traffic detection etc. application,
Even family's sweeping robot has the place that it emits light and heat.
Laser radar is divided according to transmitting light path and the structural relation of receiving light path, there is parallel axle construction and coaxial configuration
Two kinds, coaxial configuration is applied more generally due to its intrinsic structural advantage in single line laser radar.However, due to laser thunder
What is reached is complicated, and production capacity is constantly in lower state, and what is all come therewith is also the costliness of price.Especially in process of production
Optical path adjusting part, emit light path it is coaxial adjusting need using optical 3-dimensional translation stage control collimation transmitter unit angle,
Dependent on experienced artificial adjusting manually, the optical maser wavelength used in addition, need to also be by outer not in visible wavelength range
Boundary visual device carries out auxiliary adjustment, such strong influence consistency of the efficiency and product of production.
Invention content
Problem to be solved in the utility model is to overcome existing coaxial configuration laser radar manual adjustment transmitting light path coaxial
The deficiency of method provides a kind of self-checking device of transmitting light path coaxial.
To achieve the above object, the utility model embodiment provides a kind of automatic tune of laser radar transmitting light path coaxial
Regulating device, it is characterised in that comprising laser optical path to be regulated, standard reflection face, thermal camera, image analysis processing unit,
Precision three-dimensional motorized precision translation stage, wireless signal Transmit-Receive Unit and dispensing fixed cell；
The laser optical path includes laser alignment transmitter unit and Echo receiving unit, laser alignment transmitter unit position
In Echo receiving unit center, the precision three-dimensional motorized precision translation stage is connected with laser alignment transmitter unit, and laser can be made to go out
Firing angle degree is adjustable in 45 degree；
The standard reflection face is located at preset position immediately ahead of the laser optical path, and on the standard reflection face
Cross searching be located on the axial line of the Echo receiving unit；
The thermal camera is located at the front in the standard reflection face, for obtaining on standard reflection face from the laser
The image of the laser facula and cross searching of transmitter unit outgoing is collimated, described image analysis and processing unit is analyzed and handles image
Information, obtains the position relationship of presently described laser facula and cross searching, and calculates the tune of precision three-dimensional motorized precision translation stage
Save parameter；
The precision three-dimensional motorized precision translation stage is by the wireless signal Transmit-Receive Unit from described image analysis and processing unit
Adjustment parameter information is got, the laser emitting angle of the laser alignment transmitter unit is adjusted, makes in the laser facula
The heart is overlapped with the cross searching；
The dispensing fixed cell carries out the position of the collimation transmitter unit of the laser optical path and Echo receiving unit
It is fixed.
Preferably, light path can be increased between the standard reflection face and the laser optical path to turn back device, for keeping
Standard reflection face is reduced in the case that effective light path is constant at a distance from laser optical path, effective light path is to be less than 100 more than 5 meters
Rice；
Preferably, the laser emitting adjustable angle of the laser alignment transmitter unit is ranging from less than or equal to more than or equal to 0 °
45°；
Preferably, described image analysis and processing unit is the processor with data processing and operational capability, specially PC
Machine DSP or embeded processor；
Preferably, the position of the laser alignment transmitter unit and Echo receiving unit is fixed, it is used viscous
Mixture is UV glue, by being adhesively fixed after ultraviolet light.
The utility model has the advantage of carry out troublesome operation adjusting, vision when solving worker's production is tired without artificial
Labor causes homogeneity of product poor, and properties of product fluctuate big problem；Production efficiency height, good product consistency.
Description of the drawings
Fig. 1 is that the structure for the self-checking device that a kind of laser radar provided in an embodiment of the present invention emits light path coaxial is shown
It is intended to；
Fig. 2 is that the structural relation of laser alignment transmitter unit provided in an embodiment of the present invention and return laser beam receiving unit is shown
It is intended to；
Fig. 3 is the Automatic adjustment method flow chart that a kind of laser radar provided in an embodiment of the present invention emits light path coaxial；
Fig. 4 is standard reflection face provided in an embodiment of the present invention, the coordinate relationship of the light-emitting surface of laser alignment launching tube is shown
It is intended to；
Specific implementation mode
Below in conjunction with the accompanying drawings, the specific implementation mode of invention is further described.Following embodiment is only used for more clear
Illustrate to Chu technical scheme of the present invention, and not intended to limit the protection scope of the present invention.
Fig. 1 is that the structure for the self-checking device that a kind of laser radar provided in an embodiment of the present invention emits light path coaxial is shown
It is intended to, the light that laser light source 1 is sent out is projected by collimation lens 2, and collimates the center that transmitter unit is located at Echo receiving unit 3
Position projects laser and forms hot spot on standard reflection face 4, and the cross searching on standard reflection face is located at Echo receiving unit 3
Axial line on, infrared camera 5 obtains the image of cross searching and hot spot on standard reflection face, image analysis processing unit
The image of 6 pairs of acquisitions carries out analyzing processing, calculates the adjusting offset needed for precision three-dimensional motorized precision translation stage 8, and pass through nothing
Line signal transmitting and receiving unit 7 is transferred to precision three-dimensional motorized precision translation stage, controls the laser emitting angle of laser alignment transmitter unit so that
The center of hot spot is overlapped with cross searching, and dispensing fixed cell 9 is by the position of laser alignment transmitter unit and Echo receiving unit
It is fixed by UV glue；
Preferably, light path can be increased between the standard reflection face and the laser optical path to turn back device, for keeping
Standard reflection face is reduced in the case that effective light path is constant at a distance from laser optical path, effective light path is to be less than 100 more than 5 meters
Rice；
Preferably, the position relationship of the laser facula and cross searching is obtained by the following method：
It is affixed on the standard reflection face with black and white chessboard table images first, camera calibration is carried out to thermal camera, is obtained
Take the inside and outside parameter and distortion parameter of thermal camera；
The image that laser facula and cross searching are obtained by thermal camera, by edge detection and binary conversion treatment,
Obtain cross searching and beam pattern；
Coordinate system is established by origin of cross searching, passes through the cross searching of image zooming-out and the location of pixels of spot center
The calibrating parameters of relationship and camera obtain the actual coordinate value M (x of hot spot on the standard reflection face0,y0)；
Fig. 2 is the structural relation of laser alignment transmitter unit and return laser beam receiving unit that one embodiment of the invention provides
Schematic diagram, 1 is laser alignment transmitter unit in figure, and 2 be the first receiving lens, and 3 be return laser beam receiving unit, wherein first
The centrally disposed tapered through-hole of receiving lens, for placing laser alignment transmitter unit, the axial line of laser alignment transmitter unit
Axial line angle with return laser beam receiving unit is α；Plane and return laser beam receiving unit axial line after first receiving lens
Intersection point be O '；It is single that the laser alignment transmitting positioned at the first lens front is clamped in the adjusting of precision three-dimensional motorized precision translation stage
First part, when adjusting so that α is 0 °, it is believed that transmitting light path coaxial adjusting finishes.
Fig. 3 is the Automatic adjustment method flow that a kind of laser radar that one embodiment of the invention provides emits light path coaxial
Figure, comes into operation initial stage in device, needs to carry out camera calibration, in coaxial adjusting, thermal camera to thermal camera
The image of cross searching and hot spot is obtained, image analysis processing unit carries out analyzing processing to the image of acquisition, obtains hot spot and exist
Actual coordinate M (x0, y0) on standard reflection face, as shown in the Oxy coordinate systems of Fig. 4, the light extraction of laser alignment transmitter unit
O1xy coordinate systems are established in face, and Oxy coordinate systems are parallel with O1xy coordinate systems, set the optical path length of O ' to O1 as L1, O ' arrives O's
Optical path length is L；Then mobile offset x=- (L1/L) * x0, y=- (L1/L) the * y0 of D translation platform；It adjusts so that hot spot
Center is overlapped with cross searching；UV glue is uniformly applied between laser alignment transmitter unit and the first receiving lens by dispenser system,
Cured again by ultra violet lamp.
Preferably, when between the standard reflection face and the laser alignment transmitter unit increase light path turn back device after,
Actual range between standard reflection face and laser optical path can greatly reduce, but effective light path distance L is constant.
The above is only the preferred embodiment for the present invention, it is noted that for those skilled in the art
For, without departing from the technical principles of the invention, several improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (5)
1. a kind of self-checking device of laser radar transmitting light path coaxial, it is characterised in that comprising laser optical path to be regulated,
Standard reflection face, thermal camera, image analysis processing unit, three-D electric translation stage, wireless signal Transmit-Receive Unit and fixation
Unit；
The laser optical path to be regulated includes laser alignment transmitter unit and Echo receiving unit, and the laser alignment transmitting is single
Member is located at Echo receiving unit center, and the three-D electric translation stage is connected with laser alignment transmitter unit, and laser can be made to go out
Firing angle degree is adjustable in 45 degree；
The standard reflection face is located at preset position immediately ahead of the laser optical path, and ten on the standard reflection face
Word center is located on the axial line of the Echo receiving unit；
The thermal camera is located at the front in the standard reflection face, for obtaining on standard reflection face from the laser alignment
The image of the laser facula and cross searching of transmitter unit outgoing；
Image information is analyzed and handled to described image analysis and processing unit, obtains the position of presently described laser facula and cross searching
Relationship is set, and calculates the adjustment parameter of the three-D electric translation stage；
The three-D electric translation stage gets tune by the wireless signal Transmit-Receive Unit from described image analysis and processing unit
Save parameter information, adjust the laser emitting angle of the laser alignment transmitter unit, make the center of the laser facula with it is described
Cross searching overlaps；
The position of the collimation transmitter unit of the laser optical path and Echo receiving unit is fixed the fixed cell.
2. self-checking device according to claim 1, which is characterized in that the standard reflection face and the laser optical path
Between can increase light path and turn back device, for reducing standard reflection face and laser optical path in the case where keeping effective light path constant
Distance, effective light path be more than 5 meters be less than 100 meters.
3. self-checking device according to claim 1, which is characterized in that the laser of the laser alignment transmitter unit goes out
Firing angle degree adjustable extent is to be less than or equal to 45 ° more than or equal to 0 °.
4. self-checking device according to claim 1, which is characterized in that described image analysis and processing unit is with number
According to processing and the processor of operational capability, specially PC machine DSP or embeded processor.
5. self-checking device according to claim 1, which is characterized in that by the laser alignment transmitter unit and echo
The position of receiving unit carries out dispensing and fixes, and used adhesive is UV glue, by being adhesively fixed after ultraviolet light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721649284.2U CN207752146U (en) | 2017-11-29 | 2017-11-29 | A kind of self-checking device of laser radar transmitting light path coaxial |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721649284.2U CN207752146U (en) | 2017-11-29 | 2017-11-29 | A kind of self-checking device of laser radar transmitting light path coaxial |
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| CN207752146U true CN207752146U (en) | 2018-08-21 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109405795A (en) * | 2018-11-26 | 2019-03-01 | 深圳市启玄科技有限公司 | A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment |
| CN109581336A (en) * | 2019-01-02 | 2019-04-05 | 宁波傲视智绘光电科技有限公司 | A kind of laser radar transmitting collimation adjustment device and method |
| WO2020142953A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device |
| CN113740876A (en) * | 2021-08-13 | 2021-12-03 | 探维科技(北京)有限公司 | Three-dimensional laser radar light path adjusting method and device and electronic equipment |
| CN115436028A (en) * | 2022-11-07 | 2022-12-06 | 中国航天三江集团有限公司 | High-precision light beam regulating and controlling device and using method thereof |
-
2017
- 2017-11-29 CN CN201721649284.2U patent/CN207752146U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109405795A (en) * | 2018-11-26 | 2019-03-01 | 深圳市启玄科技有限公司 | A kind of adjusting method and adjusting machine of multi-path laser distance-measuring equipment |
| CN109581336A (en) * | 2019-01-02 | 2019-04-05 | 宁波傲视智绘光电科技有限公司 | A kind of laser radar transmitting collimation adjustment device and method |
| WO2020142953A1 (en) * | 2019-01-09 | 2020-07-16 | 深圳市大疆创新科技有限公司 | Ranging device |
| CN113740876A (en) * | 2021-08-13 | 2021-12-03 | 探维科技(北京)有限公司 | Three-dimensional laser radar light path adjusting method and device and electronic equipment |
| CN115436028A (en) * | 2022-11-07 | 2022-12-06 | 中国航天三江集团有限公司 | High-precision light beam regulating and controlling device and using method thereof |
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