CN212301865U - Laser radar fixed distance moving track - Google Patents
Laser radar fixed distance moving track Download PDFInfo
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- CN212301865U CN212301865U CN202020865346.9U CN202020865346U CN212301865U CN 212301865 U CN212301865 U CN 212301865U CN 202020865346 U CN202020865346 U CN 202020865346U CN 212301865 U CN212301865 U CN 212301865U
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Abstract
A laser radar fixed distance moving track comprises a laser radar track and a reflector plate track; the laser radar track is perpendicular to the reflector track, and the reflector track is arranged in the middle of the laser radar track; the laser radar track is in a left-right through type, at least two laser radar mounting seats are mounted on the laser radar track, and the laser radar mounting seats slide on the laser radar track along a T-shaped sliding groove; the reflecting plate mounting seat slides along the T-shaped sliding groove on the reflecting plate track. This moving track for laser radar and reflecting plate are surveyed in the installation, and laser radar and reflecting plate are installed and can be guaranteed the accuracy that laser radar and reflecting plate removed and the shift position of being convenient for again on moving track, have realized the synchronous working of laser radar demarcation with the installation through setting the laser radar track to left and right sides open-type, realize orbital altitude mixture control through setting up height adjusting screw on the track.
Description
Technical Field
The utility model relates to a laser radar technical field especially relates to a laser radar distance removes track.
Background
With the increasing safety awareness of people, especially in the field of household automobiles, people have higher requirements on an automobile anti-collision system. Laser radar automobile anti-collision systems have been widely used as an active anti-collision means.
Early lidar was used mainly in military and civil geographic mapping (GIS) and other fields, such as geological mapping, monitoring tree growth, measuring building project progress, and the like. With the rise of automatic driving, the requirement for environment perception is becoming more and more strict, and in an automatic driving architecture, a sensing layer is compared with the eyes of an automobile, and comprises a vision system sensor such as a vehicle-mounted camera and a radar system sensor such as a vehicle-mounted millimeter wave radar, a vehicle-mounted laser radar and a vehicle-mounted ultrasonic radar, wherein the laser radar is widely considered as a necessary sensor for realizing automatic driving. Compared with other types of automatic driving sensors, such as a camera, the laser radar has the advantages of longer detection distance and higher accuracy. Compared with a camera, the laser radar is an active emission beam, so that the laser radar is not easily influenced by surrounding environments such as weak light, rain, snow and smoke, the camera needs to consume a large amount of processor capacity when image recognition processing is carried out, and three-dimensional map information generated by the laser radar is easier to analyze by a computer. Compare the millimeter wave radar, laser radar's resolution ratio is higher to the millimeter wave radar is also not suitable for work such as pedestrian detection and target identification. In the automatic driving field, the laser radar and other sensors complement each other, and the accuracy of sensing the surrounding environment by the vehicle can be effectively improved.
After production, the laser radar needs to be calibrated before formal use, and the deviation between a measured value and an actual value is ensured not to exceed a specified value.
The existing laser radar calibration device mostly adopts a manual calibration mode, the calibration mode is poor in stability, can be influenced by operators, is low in reliability, and is low in production efficiency.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem that exists, the utility model provides a laser radar distance removes track for laser radar and reflecting plate are surveyed in the installation, and laser radar and reflecting plate are installed and are guaranteed the accuracy that laser radar and reflecting plate removed and the shift position of being convenient for again on removing the track, have realized the synchronous operation that laser radar markd and installed through setting the laser radar track to left and right sides open-type, realize orbital altitude mixture control through setting up height adjusting screw on the track.
The purpose of the utility model is realized through the following technical scheme.
The laser radar fixed-distance moving track is characterized by comprising a laser radar track and a reflector plate track, wherein the laser radar track and the reflector plate track are both provided with T-shaped chutes; the laser radar track is perpendicular to the reflector track, and the reflector track is arranged in the middle of the laser radar track; the laser radar track is in a left-right through type, at least two laser radar mounting seats are mounted on the laser radar track, the bottoms of the laser radar mounting seats are matched with a T-shaped sliding groove of the laser radar track, and the laser radar mounting seats slide on the laser radar track along the T-shaped sliding groove; the bottom of the reflecting plate mounting seat is matched with the T-shaped sliding groove of the reflecting plate track, and the reflecting plate mounting seat slides on the reflecting plate track along the T-shaped sliding groove.
The laser radar distance moving track is provided with the track height adjusting device, the track height adjusting device comprises supporting legs and height adjusting nails, the supporting legs are fixed at four corners of the laser radar distance moving track and the reflecting plate track, the height adjusting nails are in threaded fit with the supporting legs, end portions of the height adjusting nails are flat heads, the flat heads fall on a base, and the height of the laser radar distance moving track is adjusted by rotating the height adjusting nails to adjust the length of the height adjusting nails exposed out of the supporting legs.
The laser radar distance moving track is provided with a track height adjusting device, the track height adjusting device comprises supporting legs, height adjusting nails and height adjusting nails, the supporting legs are fixed at four corners of the laser radar distance moving track and the reflecting plate track, the height adjusting nails are in threaded fit with the supporting legs, the end parts of the height adjusting nails are flat heads, the flat heads fall on a foundation, and the height adjusting nails penetrate through holes of the supporting legs and then are in threaded fit with the foundation; the height-adjusting nails are used for adjusting the height of the supporting legs, the height-adjusting nails are used for pressing the supporting legs down, and the height-adjusting nails are used in a matched mode to adjust the height of the supporting legs.
According to the laser radar fixed-distance moving track, a positioning device is arranged between the laser radar mounting seat and the laser radar track; the positioning device is arranged at the junction position of the reflector plate track and the laser radar track; a raised part is arranged on the laser radar track, and a spherical pit is arranged on the raised part; the positioning device comprises a pressing rod, a spring and a cover, the cover is used for installing the pressing rod and the spring in a hole of the laser radar mounting seat, the left end part of the pressing rod is matched with a spherical pit arranged on the laser radar track, a boss is arranged in the middle of the pressing rod, and the spring is installed between the boss and the cover.
According to the laser radar fixed-distance moving track, the groove is formed in the middle of the laser radar track, and one end of the reflecting plate track is matched with the groove in the middle of the laser radar track.
According to the laser radar fixed-distance moving track, the reflecting plate track is composed of a plurality of sections, one end of each section of the reflecting plate track is provided with a groove, and the other end of each section of the reflecting plate track is matched with the groove at one end of each section of the reflecting plate track.
According to the laser radar fixed-distance moving track, the reflecting plate mounting seat driving device is arranged on the reflecting plate track and comprises a rack plate, a gear, a motor and a coupler; the rack plate is fixed on the reflecting plate track, the gear is matched with the rack plate gear, a central shaft of the gear is connected with the motor through the coupler, and the motor is fixed on the reflecting plate mounting seat.
The laser radar fixed-distance moving track is characterized in that a stroke detection device is arranged on the driving device and comprises an encoder, a coupler and an encoder support, the encoder is connected with an output shaft of a motor through the coupler and is fixed on the encoder support, and the encoder support is fixed on the reflecting plate mounting seat.
The laser radar fixed-distance moving track is characterized in that the motor is a double-output shaft type motor.
The beneficial effects of the utility model reside in that:
1. the laser radar fixed-distance moving track of the utility model is used for installing and measuring the laser radar and the reflecting plate, and the laser radar and the reflecting plate are installed on the moving track, thereby not only ensuring the moving accuracy of the laser radar and the reflecting plate, but also being convenient for moving the position;
2. the laser radar fixed-distance moving track of the utility model realizes the synchronous work of laser radar calibration and installation by setting the laser radar track to be left-right open type;
3. the laser radar fixed-distance moving track realizes the height adjustment of the track by arranging the height adjusting screw on the track;
4. the laser radar fixed-distance moving track realizes the mechanization of the reflecting plate mounting seat by arranging the driving device of the reflecting plate mounting seat;
5. the utility model discloses a laser radar distance removes track, through set up the automated inspection that stroke detection device realized the reflecting plate mount pad position on drive arrangement.
Drawings
The aspects and advantages of the present application will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
fig. 1 is a schematic structural diagram of a laser radar fixed-distance moving track according to embodiment 1 of the present invention.
Fig. 2 is a left side view of fig. 1.
Fig. 3 is an enlarged view of a portion a of fig. 2.
Fig. 4 is an enlarged view of a portion B of fig. 2.
Fig. 5 is a schematic structural diagram of a laser radar fixed-distance moving track according to embodiment 2 of the present invention.
Fig. 6 is a left side view of fig. 5.
Fig. 7 is an enlarged view of the portion C of fig. 5.
Fig. 8 is a cross-sectional view taken along line D-D of fig. 5.
The components represented by the reference numerals in the figures are:
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. It should be noted that these embodiments are provided so that this disclosure can be more completely understood and fully conveyed to those skilled in the art, and the present disclosure may be implemented in various forms without being limited to the embodiments set forth herein.
Example 1
Referring to fig. 1-4, fig. 1-4 are schematic structural views of a lidar fixed-distance moving track according to embodiment 1 of the present invention. As shown in the figure, the laser radar fixed-distance moving track comprises a laser radar track 1 and a reflector plate track 2, wherein the laser radar track 1 is used for mounting a laser radar to be detected, and the laser radar to be detected can slide on the laser radar track 1; the laser radar track 1 and the reflector track 2 are both provided with T-shaped chutes; the laser radar track 1 is perpendicular to the reflector plate track 2, and the reflector plate track 2 is arranged in the middle of the laser radar track 1; the laser radar track 1 is in a left-right through type, at least two laser radar mounting seats 3 are mounted on the laser radar track 1, the laser radar mounting seats 3 can be used for mounting a standard laser radar and also can be used for mounting a laser radar to be detected, the laser radar mounting seats 3 are provided with mounting holes for mounting the laser radar, the specific mounting form of the laser radar is different according to different laser radar structures, and the laser radar mounting seats 3 slide on the laser radar track along a T-shaped chute because the mounting mode of the laser radar is not the protection content of the laser radar, and therefore, the laser radar mounting seats are not described and explained in the text and the drawings; the bottom of the reflecting plate mounting seat 4 is matched with the T-shaped chute of the reflecting plate track 2, the reflecting plate mounting seat 4 slides on the reflecting plate track 2 along the T-shaped chute, and similarly, the fixed connection mode of the reflecting plate on the reflecting plate mounting seat is not the invention point of the invention, so that the figure herein is simplified and omitted, and the technical personnel in the field can carry out fixed connection by conventional means such as bolt handle and the like according to the self structure of the reflecting plate.
Further, the laser radar distance moving track is provided with a track height adjusting device, which comprises supporting legs 5 and height adjusting nails 6, as best shown in fig. 4, the supporting legs 5 are welded and fixed at four corners of the laser radar track 1 and the reflecting plate track 2, the height adjusting nails 6 are in threaded fit with the supporting legs 5, the end parts of the height adjusting nails 6 are flat heads, the flat heads fall on a foundation 8, the height adjusting nails 6 play a role of supporting the track, and the height of the laser radar distance moving track is adjusted by rotating the height adjusting nails 6 to adjust the length of the height adjusting nails 6 exposed out of the supporting legs 5.
Further, a positioning device is arranged between the laser radar mounting seat 3 and the laser radar track 1; as best shown in fig. 3, the positioning device is used for ensuring repeated position accuracy of the laser radar mounting seat 3 at the detection position each time when laser radar distance measurement is carried out, so that the positioning device is arranged at the junction position of the reflector plate track 2 and the laser radar track 1 according to actual use conditions; a raised part is arranged on the laser radar track 1, and a spherical pit 1a is arranged on the raised part; the positioning device comprises a pressure lever 9, a spring 10 and a cover 11, the cover 11 is used for installing the pressure lever 9 and the spring 10 in a hole of the laser radar installation seat 3, the left end part of the pressure lever 9 is matched with a spherical pit 1a arranged on the laser radar track 1, a boss is arranged in the middle of the pressure lever 9, and the spring 10 is installed between the boss and the cover 11; when laser radar mount pad 3 moved to laser radar track 1's intermediate position, the left end portion of depression bar 9 was impressed in spherical hole 1a under the effect of spring 10, and after the laser radar that awaits measuring detected finishing, promoted laser radar mount pad 3 hard, because depression bar 9 and spherical hole 1a are the sphere cooperation, depression bar 9 can leave in spherical hole 1a under the effect of certain power.
Optionally, a groove is formed in the middle of the laser radar track 1, one end of the reflector plate track 2 is matched with the groove in the middle of the laser radar track 1, and the reflector plate track 2 is convenient to position when being installed.
Optionally, the reflector track 2 is composed of a plurality of segments, one end of each segment of the reflector track 2 is provided with a groove, and the other end of each segment of the reflector track 2 is matched with the groove at one end of the segment of the reflector track 2.
When carrying out the calibration to laser radar, install standard laser radar on laser radar mount pad 3 earlier and when slideing to operating position, mark reflecting plate mount pad 4 in the position of reflecting plate track 2 through standard laser radar, then install the laser radar that awaits measuring at laser radar mount pad 3, the position of having markd on the reflecting plate track 2 reads out the distance of the laser radar that awaits measuring, laser radar track 1 is for controlling through-going, set up 2 at least laser radar mount pads on laser radar track 1, can be when carrying out the laser radar that awaits measuring demarcation during operation simultaneously install next laser radar that awaits measuring on another laser radar mount pad, can improve laser radar's demarcation efficiency greatly.
Example 2
Referring to fig. 5-8, the upper drawing in fig. 5-8 is a schematic structural view of a lidar fixed distance moving track and a track height adjusting device for the lidar fixed distance moving track according to embodiment 2 of the present invention, which includes a supporting leg 5, a height-adjusting nail 6 and a height-adjusting nail 7, wherein the supporting leg 5 is fixed at four corners of the lidar track 1 and the reflector track 2, the height-adjusting nail 6 is in threaded fit with the supporting leg 5, an end of the height-adjusting nail 6 is a flat head, the flat head is dropped on a foundation 8, the foundation 8 is a foundation of a work site, and the height-adjusting nail 7 is in threaded fit with the foundation 8 after passing through a through hole of the supporting leg 5; the height-adjusting nail 6 is used for adjusting the height of the supporting leg 5, the height-adjusting nail 1 is used for pressing the supporting leg 5 down, and the height-adjusting nail 6 and the height-adjusting nail 7 are used in cooperation to adjust the height of the supporting leg 5.
The rail height adjusting device in embodiment 1 is suitable for use in places where it is necessary to flexibly move the distance moving rail, while the rail height adjusting device in embodiment 2 is suitable for use in fixing the distance moving rail on a work place.
In order to realize mechanization of laser radar calibration, a reflecting plate mounting seat driving device is arranged on the reflecting plate track 2, and the driving device comprises a rack plate 12, a gear 13, a motor 14 and a coupler 15; the rack plate 12 is fixed on the reflecting plate track 2 through bolts, the gear 13 is matched with the rack plate 12 in a gear fit mode, the central shaft of the gear 13 is connected with the motor 14 through the coupler 15, and the motor 14 is fixed on the reflecting plate mounting seat 4 through bolts.
Furthermore, a stroke detection device is arranged on the driving device, the stroke detection device comprises an encoder 16, a coupler 15 and an encoder bracket 17, the encoder 16 is connected with an output shaft of the motor 14 through the coupler 15, the encoder 16 is fixed on the encoder bracket 17, and the encoder bracket 17 is fixed on the reflecting plate mounting seat 4; the output signal of the encoder 16 may be connected to a computer, and the computer calibrates the laser radar to be measured with the position information provided by the encoder 16.
Specifically, the motor 14 is a dual output shaft type motor.
Other technical features and effects not described in this embodiment may be the same as those of embodiment 1, and are not described again.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (9)
1. The laser radar fixed-distance moving track is characterized by comprising a laser radar track (1) and a reflector plate track (2), wherein the laser radar track (1) and the reflector plate track (2) are both provided with T-shaped sliding grooves; the laser radar track (1) is perpendicular to the reflector plate track (2), and the reflector plate track (2) is arranged in the middle of the laser radar track (1); the laser radar track (1) is in a left-right through type, at least two laser radar mounting seats (3) are mounted on the laser radar track (1), the bottoms of the laser radar mounting seats (3) are matched with a T-shaped sliding groove of the laser radar track (1), and the laser radar mounting seats (3) slide on the laser radar track (1) along the T-shaped sliding groove; the bottom of the reflecting plate mounting seat (4) is matched with the T-shaped sliding groove of the reflecting plate track (2), and the reflecting plate mounting seat (4) slides on the reflecting plate track (2) along the T-shaped sliding groove.
2. The lidar distance moving track according to claim 1, characterized in that the lidar distance moving track is provided with a track height adjusting device, the track height adjusting device comprises support legs (5) and height-adjusting nails (6), the support legs (5) are fixed at four corners of the lidar track (1) and the reflector track (2), the height-adjusting nails (6) are in threaded fit with the support legs (5), the end parts of the height-adjusting nails (6) are flat heads, the flat heads are fallen on a base (8), and the height of the lidar distance moving track is adjusted by rotating the height-adjusting nails (6) to adjust the length of the height-adjusting nails (6) exposed out of the support legs (5).
3. The laser radar distance moving track according to claim 1, characterized in that the laser radar distance moving track is provided with a track height adjusting device, the track height adjusting device comprises supporting legs (5), height adjusting nails (6) and height adjusting nails (7), the supporting legs (5) are fixed at four corners of the laser radar track (1) and the reflecting plate track (2), the height adjusting nails (6) are in threaded fit with the supporting legs (5), the end parts of the height adjusting nails (6) are flat heads, the flat heads are landed on a foundation (8), and the height adjusting nails (7) are in threaded fit with the foundation (8) after penetrating through holes of the supporting legs (5); the height-adjusting nails (6) are used for adjusting the height of the supporting legs (5), the height-adjusting nails (7) are used for pressing the supporting legs (5) down, and the height-adjusting nails (6) and the height-adjusting nails (7) are used in a matched mode to adjust the height of the supporting legs (5).
4. Lidar distance moving track according to claim 1, characterized in that a positioning device is arranged between the lidar mounting base (3) and the lidar track (1); the positioning device is arranged at the junction position of the reflector plate track (2) and the laser radar track (1); a raised part is arranged on the laser radar track (1), and a spherical pit (1a) is arranged on the raised part; positioner includes depression bar (9), spring (10) and lid (11), lid (11) are installed depression bar (9) and spring (10) downthehole of lidar mount pad (3), the left end portion of depression bar (9) be for with set up spherical hole (1a) phase-match on lidar track (1), the middle part of depression bar (9) is provided with the boss, install spring (10) between boss and lid (11).
5. Lidar distance moving track according to claim 1, characterized in that a groove is provided in the middle position of the lidar track (1), and one end of the deflector track (2) fits into the groove in the middle position of the lidar track (1).
6. Lidar range travel track according to claim 1, characterized in that said deflector track (2) consists of several segments, each segment of said deflector track (2) being provided with a groove at one end and the other end cooperating with the groove at one end of the segment of said deflector track (2).
7. Lidar distance moving track according to claim 1, characterized in that a reflecting plate mount driving means is arranged on said reflecting plate track (2), said driving means comprising a rack plate (12), a gear (13), a motor (14) and a coupling (15); rack plate (12) are fixed on reflecting plate track (2), gear (13) and rack plate (12) gear cooperation, the center pin of gear (13) passes through shaft coupling (15) and is connected with motor (14), motor (14) are fixed on reflecting plate mount pad (4).
8. The lidar distance moving track according to claim 7, wherein a stroke detection device is arranged on the driving device, the stroke detection device comprises an encoder (16), a coupler (15) and an encoder bracket (17), the encoder (16) is connected with an output shaft of the motor (14) through the coupler (15), the encoder (16) is fixed on the encoder bracket (17), and the encoder bracket (17) is fixed on the reflection plate mounting seat (4).
9. Lidar distance moving track according to claim 8, characterized in that said motor (14) is a dual output shaft type motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020865346.9U CN212301865U (en) | 2020-05-21 | 2020-05-21 | Laser radar fixed distance moving track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020865346.9U CN212301865U (en) | 2020-05-21 | 2020-05-21 | Laser radar fixed distance moving track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212301865U true CN212301865U (en) | 2021-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020865346.9U Active CN212301865U (en) | 2020-05-21 | 2020-05-21 | Laser radar fixed distance moving track |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212301865U (en) |
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2020
- 2020-05-21 CN CN202020865346.9U patent/CN212301865U/en active Active
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