CN214954060U

CN214954060U - Fixing frame for 3D laser radar

Info

Publication number: CN214954060U
Application number: CN202120661472.7U
Authority: CN
Inventors: 于继明; 朱领龙; 杜雨辰; 刘静
Original assignee: Jinling Institute of Technology
Current assignee: Jinling Institute of Technology
Priority date: 2021-04-01
Filing date: 2021-04-01
Publication date: 2021-11-30
Anticipated expiration: 2031-04-01

Abstract

The utility model relates to a mount for 3D laser radar, including backup pad, hollow spacing section of thick bamboo and at least one laser levelling instrument, 3D laser radar with the backup pad passes through the fastener assembly, the bottom of spacing section of thick bamboo with backup pad fixed assembly, the 3D laser radar cover is established in spacing section of thick bamboo, 3D laser radar's cable is followed spacing section of thick bamboo crosses the line hole and wears out, 3D laser radar's laser scanning portion aims at spacing section of thick bamboo's radar working groove, the laser that laser scanning portion sent can by radar working groove jets out, laser levelling instrument install set up in the mounting groove of spacing section of thick bamboo outer wall, utilize laser levelling instrument can calibrate spacing section of thick bamboo's installation accuracy, and then can guarantee indirectly 3D laser radar's installation accuracy. The fixing frame is simple and reliable in structure, and installation and measurement accuracy of the 3D laser radar can be effectively guaranteed.

Description

Fixing frame for 3D laser radar

Technical Field

The utility model relates to an erection equipment for installing the radar especially relates to a mount for 3D laser radar.

Background

At present, laser radar technology has gradually developed laser tracking, laser speed measurement, laser scanning imaging, laser doppler imaging and other technologies from the initial laser ranging technology, so that various types of laser radars appear and are widely applied to various fields. The 3D LiDAR of the european laser company is a 3D LiDAR sensor which can accurately measure the distance to a distant object and detect the size of the object by using an optical sensing technology, has 360-degree full-angle scanning, a 100M measuring range (plus or minus 15 degrees (FOV)), high stability and excellent high and low temperature precision, and has a point cloud density of 310K/s, provides data such as azimuth angle, distance, reflection intensity and the like, and can make a decision and navigate by a machine looking into the world. However, the fixing device adapted to the installation of the 3D laser radar sensor is not found in the current market, so that the measurement accuracy of the 3D laser radar sensor cannot be guaranteed to a certain extent, and the baffle encounters vibration, and the problem of sliding of the baffle can be solved.

Disclosure of Invention

An object of the utility model is to provide a simple structure is reliable, 3D LiDAR sensor that easily installation was used, utilizes the miniaturized 3D LiDAR sensor of this mount mounting dimension, can accord with the experiment required precision of sensor to can prevent to slide.

In order to achieve the above object, the utility model adopts the technical scheme that, the fixing frame for the 3D laser radar comprises a supporting plate, a hollow spacing cylinder and at least one laser leveling instrument, wherein the supporting plate is provided with a threaded hole matched with the mounting hole at the bottom of the 3D laser radar, the 3D laser radar is assembled with the supporting plate through a fastener, the bottom of the spacing cylinder is fixedly assembled with the supporting plate, the 3D laser radar is sleeved in the spacing cylinder, the cylinder wall of the spacing cylinder is provided with a line passing hole and an open radar working groove, a cable of the 3D laser radar penetrates out of the line passing hole to the outside of the spacing cylinder, a laser scanning part of the 3D laser radar is aligned with the radar working groove, and the opening size of the radar working groove is not smaller than that of the laser scanning part of the 3D laser radar, the laser that 3D lidar's laser scanning portion sent can by the radar work groove jets out, laser planometer install set up in the mounting groove of spacing section of thick bamboo outer wall, utilize laser planometer can calibrate the installation accuracy of a spacing section of thick bamboo, and then can indirectly guarantee 3D lidar's installation accuracy.

As an improvement of the utility model, the radar working groove is in the shape of a long strip arc.

As an improvement of the utility model, still include adjustable fender, the spout has been seted up on the groove limit in radar work groove, adjustable fender pegs graft in the spout, the push-and-pull adjustable fender can slide on the spout, the push-and-pull adjustable fender arrives the different positions in radar work groove can adjust 3D laser radar is in measure area's size in the radar work groove.

As an improvement of the utility model, adjustable fender sets up in pairs, two adjustable fender sets up respectively radar work groove's both sides, two when adjustable fender released completely, two adjustable fender can with radar work groove is closed completely, thereby can realize right 3D laser radar's guard action.

As an improvement of the utility model, a handle is arranged on the outer end part of the movable baffle plate towards the outer protrusion.

As an improvement of the utility model, the bottom of a spacing section of thick bamboo is outwards extended there is the fixed part, on the fixed part with correspond in the backup pad and seted up the screw thread mounting hole, a spacing section of thick bamboo with the backup pad is twisted into through the fastener fix the assembly in the screw thread mounting hole.

As an improvement of the utility model, the fixed part with a spacing section of thick bamboo integrated into one piece is made, the fixed part adopts ring plate or fixed ear.

As an improvement of the utility model, the mounting groove of laser planometer with spacing section of thick bamboo integrated into one piece makes, the mounting groove is the rectangle open slot, the laser planometer card is established in the mounting groove.

As an improvement of the utility model, the quantity of laser planometer is two, one for the horizontal side laser planometer of horizontal direction, another is the vertical side laser planometer of vertical direction, the installation direction of horizontal side laser planometer with horizontal parallel of a spacing section of thick bamboo, the installation direction of vertical side laser planometer with vertical parallel of a spacing section of thick bamboo.

As an improvement of the utility model, the locating hole has been seted up all around to the backup pad for adjust the mounted position of shown mount.

Compared with the prior art, the fixing frame for the 3D laser radar has the advantages that the whole structure design is ingenious, the structure is reasonable, stable and reliable, the size is compact, the accuracy of the installation position of the 3D laser radar can be effectively improved through the special structural layout design of the supporting frame, the limiting cylinder and the laser planometer, and therefore the 3D laser radar can be reliably guaranteed to have higher measurement accuracy; in addition, the measurement area size of the 3D laser radar can be adjusted according to actual needs by combining the radar working groove and the movable baffle, so that the measurement range can be flexibly adjusted.

Drawings

Fig. 1 is a schematic view of a fixing frame according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of the fixing frame of FIG. 1 without the 3D laser radar and the laser leveling instrument;

FIG. 3 is a schematic structural view of a supporting plate in the fixing frame of FIG. 2;

fig. 4 is a cross-sectional view of a fixing frame according to an embodiment of the present invention;

fig. 5 is a schematic structural view of a movable baffle plate in the fixed frame in fig. 1.

In the figure: 1-3D laser radar, 2-support plate, 3-limit cylinder, 4-vertical side laser leveling instrument, 5-movable baffle plate, 6-horizontal side laser leveling instrument, 31-horizontal side installation groove, 32-vertical side installation groove, 33-radar working groove, 34-line passing hole, 35-fixing part, 21-threaded hole, 22-side threaded hole, 23-positioning hole, 24-threaded installation hole and 51-handle.

Detailed Description

For the purposes of promoting an understanding and appreciation of the invention, the invention will be further described and illustrated in connection with the accompanying drawings.

As shown in fig. 1-5, for the utility model discloses a mount for 3D laser radar of an embodiment, this mount includes backup pad 2, hollow spacing section of thick bamboo 3, the horizontal side laser leveling instrument 6 of a horizontal direction, the vertical side laser leveling instrument 4 and the adjustable fender 5 of a vertical direction. The middle part of the supporting plate 2 is provided with a threaded hole 21 matched with the mounting hole at the bottom of the 3D laser radar 1, and the 3D laser radar 1 and the supporting plate 2 are assembled together through a fastener. In addition, in order to conveniently adjust the installation flatness of the 3D laser radar 1, a pair of side threaded holes 22 are formed on both sides of the threaded hole 21, so that the installation flatness of the 3D laser radar 1 relative to the support plate 2 is adjusted by using a screw, and the bottom surface of the 3D laser radar 1 is ensured to be parallel to the upper surface of the support plate 2. 3D laser radar 1 cover is established in spacing section of thick bamboo 3, spacing section of thick bamboo 3 highly be at least for the 2/3 of 1 height of 3D laser radar, and the section of thick bamboo inner chamber diameter of spacing section of thick bamboo 3 slightly is greater than 3D laser radar 1's diameter, in order to ensure 3D laser radar 1 is in there is not rock in the spacing section of thick bamboo 3. The bottom of the limiting cylinder 3 is fixedly assembled with the supporting plate 2, specifically, the bottom of the limiting cylinder 3 extends outwards to form a fixing part 35, threaded mounting holes 24 are correspondingly formed in the fixing part 35 and the supporting plate 2, and the limiting cylinder 3 and the supporting plate 2 are screwed into the threaded mounting holes 24 through fasteners to be fixedly assembled. The fixing part 35 with a spacing section of thick bamboo 3 integrated into one piece makes to ensure a spacing section of thick bamboo 3 with assembly structure stability between the backup pad 2, the fixing part 35 adopts ring plate or fixed ear, preferably adopts fixed ear.

The wall of the limiting barrel 3 is provided with a wire passing hole 34 and an open-ended radar working groove 33, a cable of the 3D laser radar 1 penetrates out of the wire passing hole 34 to the outside of the limiting barrel 3, a laser scanning part of the 3D laser radar 1 is aligned to the radar working groove 33, the opening size of the radar working groove 33 is not smaller than that of the laser scanning part of the 3D laser radar 1, the 3D laser radar 1 is cylindrical, and the laser scanning part of the 3D laser radar 1 is located on the side wall, so that the radar working groove 33 is preferably designed to be in a long arc shape, and laser emitted by the laser scanning part of the 3D laser radar 1 can be emitted from the radar working groove 33.

The horizontal side laser leveling instrument 6 and the vertical side laser leveling instrument 4 are respectively installed in a horizontal side installation groove 31 and a vertical side installation groove 32 which are formed in the outer wall of the limiting cylinder 3, the installation direction of the horizontal side laser leveling instrument 6 is parallel to the transverse direction of the limiting cylinder 3, the installation direction of the vertical side laser leveling instrument 4 is parallel to the vertical direction of the limiting cylinder 3, and the installation accuracy of the limiting cylinder 3 can be calibrated by utilizing the horizontal side laser leveling instrument 6 and the vertical side laser leveling instrument 4, so that the installation accuracy of the 3D laser radar 1 can be indirectly guaranteed. Further, horizontal side mounting groove 31 and vertical side mounting groove 32 set up the both sides of a spacing section of thick bamboo 3, can effectively improve like this horizontal side laser planometer 6 and vertical side laser planometer 4's calibration accuracy. In addition, in order to ensure the calibration accuracy in long-term use and to improve the stability of the structure, position and direction of the horizontal side mounting groove 31 and the vertical side mounting groove 32, the horizontal side mounting groove 31 and the vertical side mounting groove 32 are integrally formed with the restraining cylinder 3. Horizontal side mounting groove 31 and vertical side mounting groove 32 all design the open slot for the rectangle, horizontal side laser planometer 6 and vertical side laser planometer 4 are established respectively the card in horizontal side mounting groove 31 and vertical side mounting groove 32.

The side of the radar working groove 33 is provided with a sliding groove, the movable baffle 5 is inserted into the sliding groove, the movable baffle 5 is pushed and pulled to slide on the sliding groove, the movable baffle 5 is pushed and pulled to different positions of the radar working groove 33, the size of a measuring area of the 3D laser radar 1 in the radar working groove 33 can be adjusted, and the measuring range can be flexibly adjusted.

The movable baffle plates 5 are arranged in pairs, the two movable baffle plates 5 are arranged on two sides of the radar working groove 33 respectively, when the two movable baffle plates 5 are completely pushed out, the two movable baffle plates 5 can completely close the radar working groove 33, and therefore the protection effect of the 3D laser radar 1 can be achieved.

Preferably, in order to facilitate pushing and pulling the shutter 5, a handle 51 is protruded outward from an outer end of the shutter 5. When the movable baffle 5 needs to be pushed and pulled, the handle 51 can be held by hand to drive the movable baffle 5 to move. In order to be able to adjust the measuring range precisely, a numerical graduation mark is provided on the outer side wall and/or the lower part of the radar working groove 33, and the size of the measuring range to be adjusted is indicated by the numerical graduation mark.

Furthermore, in order to facilitate the disassembly and assembly maintenance of the fixing frame and expand the application range of the fixing frame, positioning holes 23 are formed around the supporting plate 2 for adjusting the installation position of the fixing frame.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by the arbitrary combination of the above technical features. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims

1. The utility model provides a mount for 3D laser radar which characterized in that: the laser leveling device comprises a supporting plate, a hollow limiting cylinder and at least one laser leveling instrument, wherein a threaded hole matched with a mounting hole at the bottom of a 3D laser radar is formed in the supporting plate, the 3D laser radar and the supporting plate are assembled together through a fastener, the bottom of the limiting cylinder is fixedly assembled with the supporting plate, the 3D laser radar is sleeved in the limiting cylinder, a wire passing hole and a radar working groove are formed in the wall of the limiting cylinder, a cable of the 3D laser radar penetrates out of the wire passing hole, the opening size of the radar working groove is not smaller than that of a laser scanning part of the 3D laser radar, laser emitted by the laser scanning part of the 3D laser radar can be emitted out of the radar working groove, the laser leveling instrument is arranged in a mounting groove formed in the outer wall of the limiting cylinder, and the mounting precision of the limiting cylinder can be calibrated by the laser leveling instrument, and then can indirectly guarantee 3D laser radar's installation accuracy.

2. The holder for a 3D lidar of claim 1, wherein the radar working channel is in the shape of an elongated arc.

3. The holder according to claim 1 or 2, further comprising a movable baffle, wherein a sliding groove is formed on a groove edge of the radar working groove, the movable baffle is inserted into the sliding groove, the movable baffle can slide on the sliding groove by pushing and pulling, the movable baffle is pushed and pulled to different positions of the radar working groove, and the size of a measuring area of the 3D laser radar in the radar working groove can be adjusted.

4. The holder according to claim 3, wherein the movable flaps are provided in pairs, two of the movable flaps are provided on both sides of the radar working tank, and when the two movable flaps are completely pushed out, the two movable flaps can completely close the radar working tank.

5. The holder for a 3D lidar of claim 4, wherein the flapper has a handle projecting outwardly from an outer end thereof.

6. The holder according to claim 1, wherein a fixing portion extends from a bottom of the position-limiting cylinder, the fixing portion and the supporting plate are correspondingly provided with threaded mounting holes, and the position-limiting cylinder and the supporting plate are fixedly assembled by screwing a fastener into the threaded mounting holes.

7. The holder according to claim 6, wherein the fixing portion is integrally formed with the limiting cylinder.

8. The holder according to claim 1, wherein the mounting groove of the laser leveling instrument is integrally formed with the limiting cylinder.

9. The holder according to claim 8, wherein the number of the laser planometers is two, one is a horizontal side laser planometer in a horizontal direction, and the other is a vertical side laser planometer in a vertical direction, the installation direction of the horizontal side laser planometer is parallel to the horizontal direction of the limiting cylinder, and the installation direction of the vertical side laser planometer is parallel to the vertical direction of the limiting cylinder.

10. The holder according to claim 1, wherein the support plate has positioning holes formed around the support plate.