CN216285729U - Workpiece detection device integrating camera and laser radar - Google Patents
Workpiece detection device integrating camera and laser radar Download PDFInfo
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- CN216285729U CN216285729U CN202121768615.0U CN202121768615U CN216285729U CN 216285729 U CN216285729 U CN 216285729U CN 202121768615 U CN202121768615 U CN 202121768615U CN 216285729 U CN216285729 U CN 216285729U
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Abstract
The embodiment of the utility model discloses a workpiece detection device integrating a camera and a laser radar. The device includes: the method comprises the following steps: the device comprises a box body, a laser radar, a camera, a voltage stabilizing module, a heat dissipation module and a fixing plate; the laser radar and the camera are fixedly arranged at the front end of the fixed plate in parallel through the detachable fixing device, and the voltage stabilizing module and the heat dissipation module are fixedly arranged at the rear end of the fixed plate through the detachable fixing device respectively; two holes are sequentially formed in the front cover of the box body and respectively correspond to the laser radar and the camera; two switching ports are sequentially arranged on the rear cover of the box body and are respectively used for switching power lines and data output lines of the laser radar and the camera. The stability of device detection and installation maintenance convenient degree have been improved.
Description
Technical Field
The embodiment of the utility model relates to the technical field of workpiece detection, in particular to a workpiece detection device integrating a camera and a laser radar.
Background
In the existing scheme for detecting the workpiece, most cameras are only used for collecting image information and only used for detecting based on the image information, and the requirement of a single camera on field installation is low, so that the method is easy to realize. However, in a workpiece detection scene with a high detection precision requirement, a camera and a laser radar are required to be combined for simultaneous detection, and image information and three-dimensional point cloud information are combined.
However, due to the adoption of various devices, the requirements on the devices and the stability between the devices are higher and higher, and particularly the problems of relative calibration between a camera and a laser radar and the difficulty of field installation are involved.
In the existing scheme, a camera and a laser radar are respectively installed, but when the camera and the laser radar are installed on a moving object, the relative position between the camera and the laser radar is changed when the vehicle moves, so that the previous calibration result is inaccurate, and frequent calibration and updating are needed. And the requirement of the separated installation on the field installation difficulty is higher, and the installation efficiency is influenced. And the presence of external environments such as dust, rain, etc. may also cause some interference to the detection results of the camera and the lidar exposed to the outside.
SUMMERY OF THE UTILITY MODEL
The embodiment of the utility model provides a workpiece detection device integrating a camera and a laser radar, so that the detection stability and the installation convenience of the device are improved.
The device includes: the device comprises a box body, a laser radar, a camera, a voltage stabilizing module, a heat dissipation module and a fixing plate; wherein the content of the first and second substances,
a box cavity is formed in the box body, the fixed plate is fixedly arranged on the bottom surface of the box cavity through a detachable fixing device, the laser radar and the camera are fixedly arranged at the front end of the fixed plate in parallel through the detachable fixing device, and the voltage stabilizing module and the heat dissipation module are fixedly arranged at the rear end of the fixed plate through the detachable fixing device respectively; two openings are sequentially arranged on the front cover of the box body and respectively correspond to the laser radar and the camera; a power supply switching port is arranged on the rear cover of the box body and used for switching power supply lines of the laser radar and the camera; and a communication adapter is arranged on the rear cover of the box body and used for adapting data output lines of the laser radar and the camera.
Optionally, the fixed plate sets up in case chamber bottom surface through dismantling fixing device is fixed, includes:
the fixed plate is fixedly arranged on the bottom surface of the box cavity through a detachable damping device.
Optionally, the detachable damping device comprises four detachable steel wire rope dampers;
correspondingly, the fixed plate sets up in case chamber bottom surface through dismantling that damping device is fixed, includes:
the fixed plate is fixedly arranged on the bottom surface of the box cavity through four detachable steel wire rope shock absorbers which are uniformly distributed at four corners of the bottom end of the fixed plate.
Optionally, the left side and the right side of the box body are respectively provided with a heat dissipation hole.
Optionally, the opening is covered with a non-shading dustproof plate, the dustproof plate is made of a transparent acrylic plate, and the thickness of the transparent acrylic plate is determined according to the penetration performance of the laser radar.
Optionally, the rear cover of the box body is fixedly connected with the box body through screws or hinges.
Optionally, the left side and the right side of the upper side or the lower side of the box body respectively extend to form extension plates with preset length and preset width, and the extension plates are provided with detachable fixing devices for fixing the workpiece detection device in a detection scene.
Optionally, the power adapter and the communication adapter are aviation plugs.
According to the embodiment of the utility model, the equipment is arranged on the fixing plate, so that the fixing plate is convenient to directly process during installation and maintenance, and the convenience of installation and maintenance of the device is improved; and through all installing check out test set on the fixed plate, improve the efficiency of demarcation, guarantee the relative stability between camera and the laser radar, avoid the complicated flow that frequent demarcation in later stage brought. The workpiece detection device with the camera and the laser radar integrated is convenient to install, convenient and fast to install and accurate to detect through the integral box.
Drawings
Fig. 1 is a schematic view of the overall structure of a workpiece detection apparatus incorporating a camera and a lidar in an embodiment of the present invention;
FIG. 2 is a front view of an integrated camera and lidar workpiece detection apparatus in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a part of a workpiece detection device integrating a camera and a laser radar in an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the interior of a housing of the workpiece detection device integrating a camera and a laser radar in the embodiment of the utility model;
FIG. 5 is a top view of the interior of a housing of an integrated camera and lidar workpiece detection apparatus in an embodiment of the utility model;
FIG. 6 is a left side view of an integrated camera and lidar workpiece detection device in an embodiment of the present invention;
fig. 7 is a top view of an integrated camera and lidar workpiece detection apparatus in an embodiment of the utility model.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting of the utility model. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
Fig. 1 is a schematic overall structural diagram of a workpiece detection apparatus integrating a camera and a lidar in an embodiment of the present invention, which is applicable to a case where the camera and the lidar are used simultaneously to detect a workpiece, where the detection content may include classification detection, workpiece information detection, and the like. As shown in fig. 1, the workpiece detection apparatus specifically includes: the box 1, laser radar 2, camera 3, louvre 4, extension board 5 and back lid 6.
Fig. 2 is a front view of the workpiece inspection apparatus with integrated camera and lidar in the embodiment of the present invention, which includes: lidar 2, camera 3, extension plate 5 and back cover 6.
Fig. 3 is a schematic structural diagram of a part of a workpiece detection apparatus integrating a camera and a lidar in an embodiment of the present invention, which includes: rear cover 6, power switching mouth 7 and communication switching mouth 8.
Fig. 4 is a schematic structural diagram of the interior of a box of a workpiece detection apparatus integrating a camera and a lidar in the embodiment of the present invention, which includes: laser radar 2, camera 3, back lid 6, power switching interface 7, communication switching interface 8 and fixed plate 9.
Fig. 5 is a top view of the interior of the housing of the workpiece inspection device incorporating the camera and the lidar according to an embodiment of the present invention, which includes: laser radar 2, camera 3, fixed plate 9, heat dissipation module 10 and voltage stabilizing module 11.
Fig. 6 is a left side view of the workpiece inspection apparatus with integrated camera and lidar according to an embodiment of the present invention, which includes: and (4) heat dissipation holes.
Fig. 7 is a top view of the workpiece inspection apparatus with integrated camera and lidar in the embodiment of the present invention, which includes: an extension plate 5 and a rear cover 6.
The laser radar and the camera are fixedly arranged at the front end of the fixed plate in parallel through the detachable fixing device, and the voltage stabilizing module and the heat dissipation module are fixedly arranged at the rear end of the fixed plate through the detachable fixing device respectively; two openings are sequentially arranged on the front cover of the box body and respectively correspond to the laser radar and the camera; a power supply switching port is arranged on the rear cover of the box body and used for switching power supply lines of the laser radar and the camera; and a communication adapter is arranged on the rear cover of the box body and used for adapting data output lines of the laser radar and the camera.
Specifically, the detection equipment camera and the laser radar are arranged in the box cavity, so that the influence of external factors such as dust and rainwater is avoided, and the detection accuracy is improved. With the setting of steady voltage module in the case intracavity, improved work piece check out test set's an organic whole nature, the installation of being convenient for, especially when installing detection device on moving objects such as vehicle, the device of integrative box is convenient for once only install the shaping, improves the convenient degree of installation. Meanwhile, the heat dissipation module is arranged in the box cavity, so that the temperature rise caused by long-time operation of equipment is avoided, and optionally, the heat dissipation module adopts a semiconductor heat dissipation fin and the like. The voltage stabilizing module is used for stabilizing the input power supply, for example, converting the voltage of the input power supply.
Camera, laser radar, voltage stabilizing module and heat dissipation module all fix on the fixed plate, and the fixed plate is fixed through dismantling fixing device with the box bottom, and the later stage of being convenient for is dismantled the back with removable fixing device, and the fixed plate is whole can be followed the box and taken out, and the follow-up change and the maintenance to equipment of being convenient for need not take down the box is whole from the erection equipment, improves the subsequent convenient degree of maintenance of check out test set to be convenient for install. Alternatively, the detachable fixing device may be a screw or the like, which is not limited herein.
Because the camera and the laser radar need to be calibrated in advance, and the acquired data are established in the same coordinate system, calibration needs to be carried out again after the relative position between the camera and the laser radar changes at a later stage, otherwise the accuracy of subsequent workpiece detection is influenced. In the utility model, the camera and the laser radar are fixedly arranged on the fixing plate so as to ensure the relative stability of the position between the camera and the laser radar. Particularly, when the detection device is mounted on a moving object such as a vehicle, since the vehicle moves to cause an influence such as vibration, it is necessary to mount a damping device on the equipment in order to secure the safety of the equipment. If the camera and the laser radar are directly fixed on the fixing plate through the damping device, the damping device can bring some changes to the relative position between the camera and the laser radar when in work, and the accuracy of a calibration result is influenced. Therefore, in the embodiment, the two are installed on the same fixing plate, and meanwhile, the fixing plate is fixedly installed at the bottom end of the box cavity through the damping device, so that the damping effect of the equipment is guaranteed, and the stability of the relative position between the camera and the laser radar is guaranteed.
The power supply switching port is used for switching the power supply lines of the laser radar and the camera, so that the two power supply lines of the laser radar and the camera can be switched by only one line outside the workpiece detection device, the utilization rate of the power supply is improved, and the installation is convenient; the same is true for the communication adapter, two communication lines exist inside the workpiece detection device and are respectively connected with the laser radar and the camera for collecting information of the laser radar and the camera, and only one communication line is connected outside the workpiece detection device through the adapter, so that the connection and the installation are convenient.
Optionally, a sun shield is arranged on the upper edge of the front cover of the box body, so that interference of sunlight on an image acquisition effect of the camera is avoided, and interference of a part of dust is avoided.
In one possible embodiment, the fixing plate is fixedly arranged on the bottom surface of the box cavity through a detachable fixing device, and comprises:
the fixed plate is fixedly arranged on the bottom surface of the box cavity through a detachable damping device.
When the workpiece detection device is installed on the movable equipment, the movement of the movable equipment inevitably has certain influence on the stability of the equipment inside the device, and therefore, in order to eliminate the influence, the fixed plate in the box cavity is fixedly arranged on the bottom surface of the box cavity through the detachable damping device. Meanwhile, the damping device is detachable, so that the fixing plate can be moved out of the box cavity at any time.
In one possible embodiment, the removable shock absorbing means comprises four removable wire rope shock absorbers;
correspondingly, the fixed plate sets up in case chamber bottom surface through dismantling that damping device is fixed, includes:
the fixed plate is fixedly arranged on the bottom surface of the box cavity through four detachable steel wire rope shock absorbers which are uniformly distributed at four corners of the bottom end of the fixed plate.
Specifically, damping device adopts the wire rope bumper shock absorber, can follow each angle and carry out the shock attenuation, improves the shock attenuation effect. In order to guarantee the shock attenuation effect, damping device adopts four wire rope bumper shock absorbers to distribute four wire rope bumper shock absorbers on four angles of fixed plate, guarantee the evenly distributed of shock attenuation effect. The number of the steel wire rope shock absorbers is set according to the weight of the equipment to be damped, if the number of the steel wire rope shock absorbers is too large, the equipment to be damped is firmly fixed on the fixing plate, and the shock absorption effect cannot be achieved; if the number is too small, the damping effect cannot be achieved.
In one possible embodiment, the left side and the right side of the box body are respectively provided with a heat dissipation hole.
In order to improve the heat dissipation effect of the device, the left cover and the right cover of the box body are respectively provided with the heat dissipation holes, and the size of the heat dissipation holes can be set according to the actual environment of a detection scene, so that limitation is not made.
In a possible embodiment, the opening is covered with a non-light-shielding dustproof plate, the dustproof plate is made of a transparent acrylic plate, and the thickness of the transparent acrylic plate is determined according to the penetration performance of the laser radar.
In order to avoid dust, rainwater and the like from influencing equipment in the box body from the opening, the dust guard is arranged on the opening, the dust guard can be opened in a flip mode, and the opening convenience degree is improved.
Because laser radar and camera need gather the place ahead data, consequently need respectively trompil on the corresponding position of box protecgulum, the trompil size is confirmed according to the size of respective equipment. After the opening, in order to avoid receiving the influence of dust rainwater etc, cover the dust guard of not shading on the opening, improve equipment's security and the accuracy of detection data, the life of extension equipment. The material of dust guard is transparent ya keli board, neither shelters from the field of vision that equipment gathered data, also reduces the interference to equipment signals as far as possible, therefore transparent ya keli board thickness need be confirmed according to the penetrating quality that laser radar sent the signal, and too thick can lead to laser radar to send the signal and receive the influence, and the insecure when too thin can lead to detection device serious shake.
Optionally, a hole is formed in the position of the fixing plate corresponding to the lidar to facilitate heat dissipation of the lidar, for example, a circular hole is formed at the position of the lidar as shown in fig. 7.
In one possible embodiment, the rear cover of the box body is fixedly connected with the box body through screws or hinges.
In order to facilitate maintenance, the rear cover of the box body can be fixedly connected with the box body through screws, and after the screws are disassembled, the rear cover can be removed from the box body, so that the fixing plate can be taken out conveniently or the inside of the box body can be maintained. Similarly, the box body rear cover can be fixedly connected with the box body through a hinge, and the box body front cover can be opened in a flip cover mode.
Optionally, in the embodiment of the present invention, the connection between each device and the box body may be controlled by screws, and the screw fixing positions are illustrated as circular holes in fig. 1 to 5 and 7.
In a feasible embodiment, the left side and the right side of the upper side or the lower side of the box body respectively extend to form extension plates with preset length and preset width, and the extension plates are provided with detachable fixing devices for fixing the workpiece detection device in a detection scene. The preset length and the preset width are determined according to the weight of the workpiece detection device, and are not limited herein.
An extension plate extends from the upper side or the lower side of the box body, so that the workpiece detection device can be conveniently fixed in a detection scene, for example, the workpiece detection device is fixed on a wall or a vehicle by arranging screw holes on the extension plate; meanwhile, the extension plate is obtained by extending from the box body main body, and the box body main body is not influenced.
In one possible embodiment, the power interface and the communication interface are aircraft plugs.
Claims (8)
1. An integrated camera and lidar workpiece detection device, comprising: the device comprises a box body, a laser radar, a camera, a voltage stabilizing module, a heat dissipation module and a fixing plate;
the laser radar and the camera are fixedly arranged at the front end of the fixed plate in parallel through the detachable fixing device, and the voltage stabilizing module and the heat dissipation module are fixedly arranged at the rear end of the fixed plate through the detachable fixing device respectively; two openings are sequentially arranged on the front cover of the box body and respectively correspond to the laser radar and the camera; a power supply switching port is arranged on the rear cover of the box body and used for switching power supply lines of the laser radar and the camera; and a communication adapter is arranged on the rear cover of the box body and used for adapting data output lines of the laser radar and the camera.
2. The workpiece inspection apparatus according to claim 1, comprising:
the fixed plate is fixedly arranged on the bottom surface of the box cavity through a detachable damping device.
3. The workpiece inspection device of claim 2, wherein the detachable shock absorbing device comprises four detachable wire rope shock absorbers;
the fixed plate is fixedly arranged on the bottom surface of the box cavity through four detachable steel wire rope shock absorbers which are uniformly distributed at four corners of the bottom end of the fixed plate.
4. The apparatus according to claim 1, wherein the left and right sides of the housing are provided with heat dissipating holes, respectively.
5. The workpiece detection device according to claim 1, wherein a non-opaque dust-proof plate is covered on the opening, the dust-proof plate is made of a transparent acrylic plate, and the thickness of the transparent acrylic plate is determined according to the penetration performance of the laser radar.
6. The workpiece detection device according to claim 1, wherein the rear cover of the box body is fixedly connected with the box body through screws or hinges.
7. The workpiece detection device according to claim 1, wherein extension plates with a preset length and a preset width extend from the left and right sides of the upper side or the lower side of the box body respectively, and a detachable fixing device is arranged on the extension plates for fixing the workpiece detection device in a detection scene.
8. The workpiece inspection device of claim 1, wherein the power interface and the communication interface are aircraft plugs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202121768615.0U CN216285729U (en) | 2021-07-31 | 2021-07-31 | Workpiece detection device integrating camera and laser radar |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121768615.0U CN216285729U (en) | 2021-07-31 | 2021-07-31 | Workpiece detection device integrating camera and laser radar |
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| CN216285729U true CN216285729U (en) | 2022-04-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115575994A (en) * | 2022-11-18 | 2023-01-06 | 江苏天一航空工业股份有限公司 | Environment positioning sensing method, device and system for unmanned vehicles in airport |
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2021
- 2021-07-31 CN CN202121768615.0U patent/CN216285729U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115575994A (en) * | 2022-11-18 | 2023-01-06 | 江苏天一航空工业股份有限公司 | Environment positioning sensing method, device and system for unmanned vehicles in airport |
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