CN211554306U - Heavy-load unmanned vehicle laser radar calibration device - Google Patents
Heavy-load unmanned vehicle laser radar calibration device Download PDFInfo
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Abstract
A laser radar calibration device for a heavy-load unmanned vehicle. The existing calibration method and calibration equipment are not perfect in technical development, and equipment for laser radar calibration realized by an auxiliary calibration method is lacked. The utility model discloses a2 slip table mechanisms (1) bear loading platform (2) jointly, the one end of three sets of screw rod adjustment connecting mechanisms (3) is rotated and is installed on loading platform (2) top surface, the other end rotates and connects the back of demarcation load-bearing mechanism (5), the one end of sphere adjustment connecting structure (4) is rotated and is installed on the top surface of loading platform (2) front end, the other end rotates and connects on the back panel of demarcation load-bearing mechanism (5), the tie point of three sets of screw rod adjustment connecting mechanisms (3) and sphere adjustment connecting structure (4) and demarcation load-bearing mechanism (5) is evenly distributed; the screw adjusting and connecting mechanism (3) and the spherical adjusting and connecting mechanism (4) are both telescopic structures. The utility model discloses a design is meticulous, measuring result is accurate.
Description
Technical Field
The utility model relates to a heavy load unmanned vehicle laser radar calibration device.
Background
Autopilot technology is currently a popular area of research worldwide. With the reduction of the cost of various sensors and the development of technologies, the automatic driving technology is gradually approaching to the commercial field. Vehicle-mounted sensors commonly used in the field of automatic driving include cameras (cameras), laser radars (lidar), millimeter-wave radars, and the like. Among these vehicle-mounted sensors, the lidar plays an indispensable role.
Due to the advantages and disadvantages of the single sensor, the mainstream technology generally adopts a multi-sensor fusion scheme in order to improve the reliability and stability of automatic driving. Before multi-sensor fusion, calibration is firstly carried out on each sensor. The calibration means that when each sensor works cooperatively, a unified coordinate system is needed, and external parameters of each sensor, namely a rotational-translational transformation matrix, need to be estimated. But the technical development of present calibration method and calibration equipment is not perfect enough, lacks the equipment that the lidar that supplementary calibration method realized markd, to the problem that lidar markd, the utility model designs a calibration equipment for installing, removing calibration board, through four angular points that draw calibration board, and measure four angular points at the physical coordinates of automobile body coordinate system, supplementary vehicle-mounted lidar's calibration method can realize.
Disclosure of Invention
The utility model aims at providing a heavy load unmanned vehicle laser radar calibration device.
The above purpose is realized by the following technical scheme:
a laser radar calibration device for a heavy-load unmanned vehicle comprises a slip assembly and an adjustment and measurement assembly, wherein the adjustment and measurement assembly is fixed on the slip assembly,
the sliding assembly comprises two sliding table mechanisms which are arranged in parallel;
the adjusting and measuring assembly comprises a loading platform, three sets of screw adjusting and connecting mechanisms, a spherical adjusting and connecting structure and a calibration bearing mechanism; the 2 sliding table mechanisms jointly bear the loading platform, one end of each of the three screw rod adjusting and connecting mechanisms is rotatably installed on the top surface of the middle part of the loading platform, the other end of each of the three screw rod adjusting and connecting mechanisms is rotatably connected to the back panel of the calibration bearing mechanism, one end of each of the spherical adjusting and connecting structures is rotatably installed on the top surface of the front end of the loading platform, the other end of each of the spherical adjusting and connecting structures is rotatably connected to the back panel of the calibration bearing mechanism, and connecting points of the three screw rod adjusting and connecting mechanisms and the spherical adjusting and connecting structures and the calibration bearing mechanism are uniformly distributed on the back panel of the calibration bearing mechanism;
the three sets of screw rod adjusting and connecting mechanisms and the spherical surface adjusting and connecting structure are all retractable structures.
Has the advantages that:
the utility model discloses a heavily loaded unmanned vehicle laser radar surely that reaches standard of design, the use has been markd to the laser radar that equipment mainly used installed on unmanned vehicle, carries out laser radar for unmanned vehicle outdoors and marks and provide one set of auxiliary device, inspects laser radar identification system simultaneously in being in actual operational environment, and all ring edge borders are to the influence of laser radar behavior. The utility model discloses a structural design is accurate, the installation is rationally distributed, and each structure of equipment is durable, can guarantee the finished product measuring accuracy after the installation.
Drawings
FIG. 1 is a front side view of a laser radar calibration apparatus for a heavy duty unmanned vehicle;
FIG. 2 is a top rear side view of a laser radar calibration apparatus for a heavy duty unmanned vehicle;
FIG. 3 is a front side view of the adjustment measurement assembly;
FIG. 4 is a rear side view of the adjustment measurement assembly;
FIG. 5 is a schematic structural diagram of a calibration bearing mechanism;
FIG. 6 is a schematic structural view of a screw adjustment connection mechanism;
FIG. 7 is an exploded front view of the screw adjustment connection mechanism;
FIG. 8 is a schematic view of the screw construction;
FIG. 9 is a schematic structural view of a screw barrel;
FIG. 10 is a schematic view of the stopper;
FIG. 11 is a schematic structural view of the support frame;
FIG. 12 is a schematic view of the structure of the rotating support;
FIG. 13 is a schematic view of the base;
FIG. 14 is a view showing the connection of the screw cylinder and the support frame;
FIG. 15 is a sectional view showing the connection between the screw cylinder and the supporting frame;
FIG. 16 is an exploded view of the connection of the screw cylinder and the supporting frame;
FIG. 17 is a spherical adjustment connection;
FIG. 18 is a schematic view of a threaded quill configuration;
FIG. 19 is a schematic view of a ball screw;
fig. 20 is a schematic structural view of the ball head retainer sleeve;
FIG. 21 is a ball mount;
FIG. 22 is a cross-sectional view of a spherical adjustment connection;
FIG. 23 is lidar close-range calibration;
FIG. 24 is a laser radar mid-range calibration;
FIG. 25 is a side view of a range calibration-rear in a lidar;
FIG. 26 is lidar long range calibration.
Detailed Description
The first embodiment is as follows:
the laser radar calibration device for the heavy-duty unmanned vehicle of the embodiment is composed of a package sliding assembly A1 and an adjustment measurement assembly A2, wherein the adjustment measurement assembly A2 is fixed on the sliding assembly A1, as shown in FIG. 1-2, wherein,
the sliding assembly A1 comprises two sliding table mechanisms 1 which are arranged in parallel;
the adjustment and measurement assembly A2 comprises a loading platform 2, three sets of screw adjustment and connection mechanisms 3, a spherical adjustment and connection structure 4 and a calibration bearing mechanism 5; the 2 sliding table mechanisms 1 jointly bear the loading platform 2, one end of each of the three screw rod adjusting and connecting mechanisms 3 is rotatably installed on the top surface of the middle part of the loading platform 2, the other end of each of the three screw rod adjusting and connecting mechanisms 3 is rotatably connected to the back panel of the calibration bearing mechanism 5, one end of each of the spherical adjusting and connecting mechanisms 4 is rotatably installed on the top surface of the front end of the loading platform 2, the other end of each of the spherical adjusting and connecting mechanisms 4 is rotatably connected to the back panel of the calibration bearing mechanism 5, and the connecting points of the three screw rod adjusting and connecting mechanisms 3 and the spherical adjusting and connecting mechanisms 4 and the calibration bearing mechanism 5 are uniformly distributed on the back panel of the calibration bearing mechanism (5); the method specifically comprises the following steps: the lower end of the calibration bearing mechanism 5 is connected with the spherical surface adjusting and connecting structure 4, and the upper end and the left end and the right end of the calibration bearing mechanism 5 are respectively connected with a set of screw rod adjusting and connecting mechanism 3. As shown in fig. 3 and 4.
The three sets of screw adjusting and connecting mechanisms 3 and the spherical adjusting and connecting structure 4 are all retractable structures.
The second embodiment is as follows:
different from the first specific embodiment, in the laser radar calibration device for a heavy-duty unmanned vehicle of the present embodiment, as shown in fig. 5, the calibration bearing mechanism 5 includes a calibration plate 5a and 4 plate surface connectors 5b, and the 4 plate surface connectors 5b are respectively fixed at four corners of the back of the calibration plate 5 a;
the calibration plate 5a is used for fixing the marker plates with alternate black and white lattices used in laser measurement in an installation or adhesion mode; the connecting piece 5b is provided with a hinge hole.
The third concrete implementation mode:
different from the second specific embodiment, in the laser radar calibration device for a heavy-duty unmanned vehicle of the present embodiment, as shown in fig. 6, 7, and 8, the screw adjustment connection mechanism 3 includes a screw 3a, a screw cylinder 3b, a sleeve 3d, a stopper 3c, a support frame 3e, a rotating shaft 3f, a rotating support 3g, and a base 3 h;
one end of the screw rod 3a is inserted into one end of the screw rod barrel 3 b; the other end of the screw cylinder 3b is arranged at a middle bridge part of a support frame 3e through a sleeve 3d, a stop block 3c, a bolt and a nut, two support legs are respectively arranged at two ends of the middle bridge part of the support frame 3e and are arranged in parallel, tail ends of the two support legs are connected with a rotating support 3g through a rotating shaft 3f, and the rotating shaft 3f enables the support frame 3e and the rotating support 3g to be hinged; the rotating support 3g is rotatably arranged on the base 3 h;
wherein the content of the first and second substances,
the front end of the screw rod 3a is provided with a screw rod hinge hole 3a1, and the rear end is provided with a thread section 3a 2; as shown in fig. 8;
the front end of the screw cylinder 3b is provided with an internal thread hole 3b1, the rear end of the screw cylinder 3b is provided with a fixed shaft 3b2, and the surface of the fixed shaft 3b2 is provided with a circumferential shaft groove 3b3, as shown in fig. 9;
the stop block 3c is of a semicircular annular structure, a stop snap ring 3c1 is arranged on the stop block 3c, 1 snap ring connecting block 3c2 is respectively arranged at two tail ends of the stop snap ring 3c1, the plate surface of the snap ring connecting block 3c2 is perpendicular to the plate surface of the stop snap ring 3c1, and a bolt hole is formed in the snap ring connecting block 3c 2;
the middle bridge part of the support frame 3e is provided with a support mounting hole 3e1, and support legs on two sides of the middle bridge part of the support frame 3e are respectively provided with a support hinge hole 3e 2. As shown in fig. 11;
two support legs are arranged on one side of the rotary support 3g, a support hinge hole 3g1 is respectively arranged on each support leg, and a support rotary shaft 3g2 is coaxially arranged on the other side of the rotary support 3 g; as shown in fig. 12;
the upper end of the base 3h is a base sleeve shaft 3h1, and the lower end is a base fixing plate 3h 2; as shown in fig. 13.
The hinge hole 3a1 of the screw rod 3a is hinged with the hinge hole of the connecting piece 5b through a pin shaft; the thread section 3a2 at the rear end of the screw 3a and the front end of the screw barrel 3b are provided with an internal thread hole 3b1 to form thread matching connection; the fixed shaft 3b2 of the screw cylinder 3b is arranged in the bracket mounting hole 3e1 of the support bracket 3e, and the two are in clearance fit; the sleeve 3d is sleeved on the fixed shaft 3b 2; 2 stop blocks 3c are arranged at the rear end of the screw cylinder 3b, stop snap rings 3c1 on the 2 stop blocks 3c are oppositely clamped in the shaft grooves 3b3, 2 bolts 3c4 respectively penetrate through bolt holes on the snap ring connecting blocks 3c2, and nuts 3c3 are screwed on the other side, so that the 2 stop blocks 3c are fixed on the screw cylinder 3 b; at this time, one end of the sleeve 3d abuts against the end surface of the inner side of the bracket mounting hole 3e1, and the other end of the sleeve 3d abuts against the end surface of the stop block 3c, so that the fixed connection between the screw cylinder 3b and the support bracket 3e is completed; the screw tube 3b at this time can be rotated in the circumferential direction in the holder mounting hole 3e1 of the support frame 3 e;
as shown in fig. 14, 15, 16;
the rotating shaft 3f penetrates through a support hinge hole 3e2 on the support frame 3e and a support hinge hole 3g1 on the rotating support 3g, and the support frame 3e and the rotating support 3g are hinged together;
a support rotating shaft 3g2 on the rotating support 3g is arranged in a base sleeve shaft 3h1 on the base 3h, and the rotating support and the base sleeve shaft are in clearance fit, so that the rotating support 3g can rotate in the base 3 h;
the base fixing plate 3h2 on the base 3h is fixed on the loading platform 2.
The fourth concrete implementation mode:
different from the third specific embodiment, in the laser radar calibration device for the heavy-duty unmanned vehicle of the present embodiment, as shown in fig. 17, the spherical adjustment connection structure 4 includes a threaded sleeve shaft 4a, a ball-end screw rod 4b, a ball-end fixing sleeve 4c, a ball-end base 4d, and a handle bolt 4e, which are coaxially disposed; the threaded sleeve shaft 4a is installed at the front end of the ball head screw rod 4b, the rear end of the ball head screw rod 4b is installed in a ball head fixing sleeve 4c, and the ball head fixing sleeve 4c is installed on a ball head base 4 d;
the front end of the threaded sleeve shaft 4a is provided with a threaded sleeve hinge hole 4a1, and the tail end of the threaded sleeve shaft 4a is coaxially provided with an invaginated sleeve shaft threaded hole 4a 2; as shown in fig. 18;
the front end of the ball-head screw 4b is a screw shaft 4b1, and the rear end of the ball-head screw 4b is a ball head 4b 2;
the ball head fixing sleeve 4c is provided with a hollow ball head inner hole 4c1, and the side wall of the ball head inner hole 4c1 is provided with a fixing sleeve threaded hole 4c 2; as shown in fig. 20.
The ball head base 4d comprises a base fixing ring 4d2 and a base lower plate 4d1, and the base fixing ring 4d2 is fixed on the upper surface of the base lower plate 4d 1; as shown in fig. 21.
The threaded sleeve hinge hole 4a1 of the threaded sleeve shaft 4a is hinged with the hinge hole of the connecting piece 5b through a pin shaft; the quill threaded bore 4a2 of the threaded quill 4a and the screw shaft 4b1 of the ball-end screw 4b are connected to each other by a threaded structure; the ball head 4b2 of the ball head screw rod 4b is sleeved in the ball head inner hole 4c1 of the ball head fixing sleeve 4c, and the ball head inner hole are connected to form spherical pair matching; the handle bolt 4e is arranged in the threaded hole 4c2 of the fixed sleeve and is connected by a threaded structure, and the bulb 4b2 can be extruded and fixed by rotating the handle bolt 4 e; the ball head fixing sleeve 4c is sleeved on a base fixing ring 4d2 of the ball head base 4d, and a base lower plate 4d1 of the ball head base 4d is fixed on the loading platform 2; as shown in fig. 22.
The working principle is as follows:
the set of test equipment is used in a workshop, and in the test and calibration process of the laser radar, a vehicle B1 to be calibrated, which is provided with the laser radar, is stopped opposite to a laser radar calibration device of the heavy-duty unmanned vehicle in advance before use, and target paper or a target plate required by calibration is fixed on a calibration plate 5a of a calibration bearing mechanism 5.
Firstly, the screw adjusting and connecting mechanism 3 and the spherical adjusting and connecting mechanism 4 are adjusted, so that the calibration bearing mechanism 5 is aligned with the calibrated laser radar.
By rotating the screw barrel 3b, the length of the threaded connection part of the screw 3a and the screw barrel 3b can be changed, so that the extending length of the screw 3a is adjusted; meanwhile, the rotary support 3g can rotate in the base 3h, the direction of the screw adjusting and connecting mechanism 3 can be changed, and the screw adjusting and connecting mechanism 3 can be adjusted.
The ball head 4b2 of the ball head screw rod 4b is sleeved in the ball head inner hole 4c1 of the ball head fixing sleeve 4c, and the ball head 4b2 is connected with the ball head inner hole 4c1 in a spherical pair mode; the quill threaded bore 4a2 of the threaded quill 4a and the screw shaft 4b1 of the ball-end screw 4b are connected to each other by a threaded structure; therefore, the extension length of the threaded sleeve shaft 4a can be adjusted by rotating the ball-head screw 4b in the circumferential direction, and the spherical surface adjusting and connecting structure 4 can be adjusted in the direction by rotating the ball-head screw 4b in the front-back direction and the left-right direction.
Because the screw adjusting and connecting mechanism 3 and the spherical adjusting and connecting structure 4 are connected with the upper plate surface connecting piece 5b of the calibration bearing mechanism 5 through the pin shaft, the adjustment of the orientation and the angle of the calibration plate 5a can be completed through the adjusting screw adjusting and connecting mechanism 3 and the spherical adjusting and connecting structure 4.
After the orientation and the angle of the calibration plate 5a are adjusted, the relative position of the loading platform 2 and the vehicle B1 to be calibrated can be gradually changed from near to far by using the sliding table mechanism 1 according to the calibration requirement, and the calibration work of the laser radar B1a is completed. As shown in fig. 23, 24 and 25.
Claims (4)
1. A heavy-load unmanned vehicle laser radar calibration device comprises a slip assembly (A1) and an adjustment measurement assembly (A2), wherein the adjustment measurement assembly (A2) is fixed on the slip assembly (A1),
the sliding assembly (A1) comprises two sliding table mechanisms (1) which are arranged in parallel;
the adjustment and measurement assembly (A2) comprises a loading platform (2), three sets of screw adjustment and connection mechanisms (3), a spherical adjustment and connection structure (4) and a calibration bearing mechanism (5); the loading platform (2) is jointly borne by the 2 sliding table mechanisms (1), one end of each of the three screw rod adjusting and connecting mechanisms (3) is rotatably installed on the top surface of the middle part of the loading platform (2), the other end of each of the three screw rod adjusting and connecting mechanisms (3) is rotatably connected to the back panel of the calibration bearing mechanism (5), one end of each of the spherical surface adjusting and connecting structures (4) is rotatably installed on the top surface of the front end of the loading platform (2), the other end of each of the spherical surface adjusting and connecting structures (4) is rotatably connected to the back panel of the calibration bearing mechanism (5), and connecting points of the three screw rod adjusting and connecting mechanisms (3) and the spherical surface adjusting and connecting structures (4) and the calibration bearing mechanism (5) are uniformly distributed on the back panel of the calibration bearing mechanism (5);
the three sets of screw rod adjusting and connecting mechanisms (3) and the spherical surface adjusting and connecting structure (4) are both telescopic structures.
2. The lidar calibration device for the heavy-duty unmanned vehicle of claim 1, wherein: the calibration bearing mechanism (5) comprises a calibration plate (5a) and 4 plate surface connecting pieces (5b), wherein the 4 plate surface connecting pieces (5b) are respectively fixed at four corners of the back of the calibration plate (5 a);
the calibration plate (5a) is used for fixing the marker plates with alternate black and white lattices used in laser measurement in an installation or adhesion mode; the connecting piece (5b) is provided with a hinge hole.
3. The lidar calibration device for the heavy-duty unmanned vehicle of claim 2, wherein: the screw adjusting and connecting mechanism (3) comprises a screw (3a), a screw cylinder (3b), a sleeve (3d), a stop block (3c), a support frame (3e), a rotating shaft (3f), a rotating support (3g) and a base (3 h);
one end of the screw (3a) is inserted into one end of the screw cylinder (3 b); the other end of the screw cylinder (3b) is arranged at a middle bridge part of a support frame (3e) through a sleeve (3d), a stop block (3c), a bolt and a nut, two support legs are respectively arranged at two ends of the middle bridge part of the support frame (3e) and are arranged in parallel, tail ends of the two support legs are connected with a rotating support (3g) through a rotating shaft (3f), and the rotating shaft (3f) enables the support frame (3e) and the rotating support (3g) to be hinged; the rotating support (3g) is rotatably arranged on the base (3 h);
wherein the content of the first and second substances,
the front end of the screw (3a) is provided with a screw hinge hole (3a1), and the rear end is provided with a thread section (3a 2);
the front end of the screw cylinder (3b) is provided with an internal thread hole (3b1), the rear end of the screw cylinder (3b) is provided with a fixed shaft (3b2), and the surface of the fixed shaft (3b2) is provided with a circumferential shaft groove (3b 3);
the stop block (3c) is of a semicircular annular structure, a stop snap ring (3c1) is arranged on the stop block (3c), two tail ends of the stop snap ring (3c1) are respectively provided with 1 snap ring connecting block (3c2), the plate surface of the snap ring connecting block (3c2) is perpendicular to the plate surface of the stop snap ring (3c1), and a bolt hole is formed in the snap ring connecting block (3c 2);
a support mounting hole (3e1) is formed in the middle bridge part of the support frame (3e), and support hinge holes (3e2) are formed in the support legs on two sides of the middle bridge part of the support frame (3 e);
two supporting legs are arranged on one side of the rotating support (3g), a support hinge hole (3g1) is respectively formed in each supporting leg, and a support rotating shaft (3g2) is coaxially arranged on the other side of the rotating support (3 g);
the upper end of the base (3h) is provided with a base sleeve shaft (3h1), and the lower end is provided with a base fixing plate (3h 2);
the hinge hole (3a1) of the screw rod (3a) is hinged with the hinge hole of the connecting piece (5b) through a pin shaft; the thread section (3a2) at the rear end of the screw (3a) is in thread fit connection with the front end of the screw barrel (3b) provided with an internal thread hole (3b 1); a fixed shaft (3b2) of the screw cylinder (3b) is arranged in a bracket mounting hole (3e1) of a support bracket (3e), and the fixed shaft and the support bracket are in clearance fit; the sleeve (3d) is sleeved on the fixed shaft (3b 2); 2 stop blocks (3c) are arranged at the rear end of the screw cylinder (3b), stop snap rings (3c1) on the 2 stop blocks (3c) are oppositely clamped in the shaft grooves (3b3), 2 bolts (3c4) respectively penetrate through bolt holes on the snap ring connecting blocks (3c2), and nuts (3c3) are screwed on the other side, so that the 2 stop blocks (3c) are fixed on the screw cylinder (3 b); one end of the sleeve (3d) is propped against the end surface of the inner side of the bracket mounting hole (3e1), the other end of the sleeve (3d) is propped against the end surface of the stop block (3c), and the fixed connection between the screw cylinder (3b) and the support frame (3e) is completed; the screw cylinder (3b) can rotate in the circumferential direction in the bracket mounting hole (3e1) of the support bracket (3 e);
the rotating shaft (3f) penetrates through a support hinge hole (3e2) on the support frame (3e) and a support hinge hole (3g1) on the rotating support (3g), and the support frame (3e) and the rotating support (3g) are hinged together;
a support rotating shaft (3g2) on the rotating support (3g) is arranged in a base sleeve shaft (3h1) on the base (3h), and the rotating support and the base sleeve shaft are in clearance fit, so that the rotating support (3g) can rotate in the base (3 h);
a base fixing plate (3h2) on the base (3h) is fixed on the loading platform (2).
4. The lidar calibration device for the heavy-duty unmanned vehicle of claim 3, wherein: the spherical surface adjusting and connecting structure (4) comprises a threaded sleeve shaft (4a), a ball head screw (4b), a ball head fixing sleeve (4c), a ball head base (4d) and a handle bolt (4e), which are coaxially arranged; the threaded sleeve shaft (4a) is installed at the front end of the ball head screw (4b), the rear end of the ball head screw (4b) is installed in a ball head fixing sleeve (4c), and the ball head fixing sleeve (4c) is installed on a ball head base (4 d);
the front end of the threaded sleeve shaft (4a) is provided with a threaded sleeve hinge hole (4a1), and the tail end of the threaded sleeve shaft (4a) is coaxially provided with a recessed sleeve shaft threaded hole (4a 2);
the front end of the ball-head screw (4b) is a screw shaft (4b1), and the rear end of the ball-head screw (4b) is a ball head (4b 2);
the ball head fixing sleeve (4c) is provided with a hollow ball head inner hole (4c1), and the side wall of the ball head inner hole (4c1) is provided with a fixing sleeve threaded hole (4c 2);
the ball head base (4d) comprises a base fixing ring (4d2) and a base lower plate (4d1), and the base fixing ring (4d2) is fixed on the upper surface of the base lower plate (4d 1);
a threaded sleeve hinge hole (4a1) of the threaded sleeve shaft (4a) is hinged with a hinge hole of the connecting piece (5b) through a pin shaft; a sleeve shaft threaded hole (4a2) of the threaded sleeve shaft (4a) and a screw shaft (4b1) of the ball-head screw (4b) are connected with each other through a threaded structure; a ball head (4b2) of the ball head screw rod (4b) is sleeved in a ball head inner hole (4c1) of the ball head fixing sleeve (4c), and the ball head screw rod are connected to form a spherical pair matching; the handle bolt (4e) is arranged in the threaded hole (4c2) of the fixed sleeve and is connected by a threaded structure, and the bulb (4b2) can be extruded and fixed by rotating the handle bolt (4 e); the ball head fixing sleeve (4c) is sleeved on a base fixing ring (4d2) of the ball head base (4d), and a base lower plate (4d1) of the ball head base (4d) is fixed on the loading platform (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921721464.6U CN211554306U (en) | 2019-10-15 | 2019-10-15 | Heavy-load unmanned vehicle laser radar calibration device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921721464.6U CN211554306U (en) | 2019-10-15 | 2019-10-15 | Heavy-load unmanned vehicle laser radar calibration device |
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| CN211554306U true CN211554306U (en) | 2020-09-22 |
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| CN201921721464.6U Active CN211554306U (en) | 2019-10-15 | 2019-10-15 | Heavy-load unmanned vehicle laser radar calibration device |
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Effective date of registration: 20240328 Address after: Building 3, 7th Floor, Gaosheng Plaza, No. 163 Yingbin Avenue, Xinhua Street, Huadu District, Guangzhou City, Guangdong Province, 510802 Patentee after: Guangzhou Carl Power Technology Co.,Ltd. Country or region after: China Address before: 518118 No.1, Jinlong Avenue, pinghuan community, Malian street, Pingshan District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Shuxiang Technology Co.,Ltd. Country or region before: China |
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