CN216718678U - Laser rangefinder sensor precision verifying attachment - Google Patents
Laser rangefinder sensor precision verifying attachment Download PDFInfo
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- CN216718678U CN216718678U CN202123411365.8U CN202123411365U CN216718678U CN 216718678 U CN216718678 U CN 216718678U CN 202123411365 U CN202123411365 U CN 202123411365U CN 216718678 U CN216718678 U CN 216718678U
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- laser ranging
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Abstract
The utility model discloses a precision testing device for a laser ranging sensor, which comprises a support frame, the laser ranging sensor, a step block and a base, wherein the support frame is provided with a support hole; wherein, the fixed support frame of one side on the base, the ladder piece is placed to the opposite side on the base, and laser ranging sensor installs on the support frame and the direction of laser ranging sensor laser beam is towards ladder piece one side. The platform for the precision test of the laser ranging sensor is built through an ingenious structure, can be used for the precision test of the laser ranging sensor, and has the advantages of being simple to operate and low in cost; error data of the laser ranging sensor precision inspection can be obtained, and the laser ranging sensor precision inspection can be carried out by observing the error value.
Description
Technical Field
The utility model relates to a precision testing device for a laser ranging sensor, and belongs to the technical field of measurement.
Background
The laser ranging sensor is a non-contact measuring mode and has the advantages of wide measuring range, high response speed, no need of a reflector for long-distance measurement, high measuring precision, wide measuring range and the like. The laser ranging sensor is widely applied to various fields, such as the calibration process of industrial robots and cooperative robots, and the laser ranging sensor is used as a measuring instrument.
At present, the laser ranging sensor adopts a mode of combining light speed and an electronic technology to calculate the length of a laser beam, and the calculated length of the laser beam has errors. The accuracy requirements of different measurement activities on the measuring instrument are different, and the measurement accuracy of the laser ranging sensor is an important index of the laser ranging sensor. It makes sense to perform an accuracy check on the laser ranging sensor to obtain the actual laser beam length thereof.
Disclosure of Invention
The utility model provides a precision inspection device for a laser ranging sensor, which is used for constructing a platform for the precision inspection of the laser ranging sensor and further obtaining error data of the precision inspection of the laser ranging sensor.
The technical scheme of the utility model is as follows: a laser ranging sensor precision testing device comprises a support frame 1, a laser ranging sensor 2, a step block 3 and a base 4; wherein, one side fixed support frame 1 on base 4, ladder piece 3 is placed to the opposite side on base 4, and laser ranging sensor 2 installs on support frame 1 and the direction of 2 laser beams of laser ranging sensor is towards ladder piece 3 one side.
A reference hole e and an arc hole h are formed in the support frame 1; the reference hole e and the circular arc hole h are respectively connected with the reference hole f and the reference hole g on the laser ranging sensor 2, so that the laser ranging sensor 2 emits laser beams towards one side of the step block 3.
The circular arc hole h takes the circle center of the reference hole e as the circle center.
The number of layers of the step block 3 is more than 10.
The tread of ladder piece 3 is the horizontal plane, and the plane degree of horizontal plane is higher than 0.01 mm.
The beneficial effects of the utility model are: the platform for the precision test of the laser ranging sensor is built through an ingenious structure, can be used for the precision test of the laser ranging sensor, and has the advantages of being simple to operate and low in cost; by combining the method of the utility model, the error data of the laser ranging sensor precision test can be obtained, and the precision test of the laser ranging sensor can be carried out by observing the magnitude of the error value.
Drawings
FIG. 1 is a diagram of the apparatus of the present invention;
FIG. 2 is a schematic diagram of the accuracy testing of the laser ranging sensor of the present invention;
the reference numbers in the figures are: 1-support frame, 2-laser ranging sensor, 3-step block, 4-base.
Detailed Description
The utility model will be further described with reference to the following figures and examples, but the scope of the utility model is not limited to these.
Example 1: as shown in fig. 1, a device for testing the accuracy of a laser ranging sensor comprises a support frame 1, a laser ranging sensor 2, a step block 3 and a base 4; wherein, one side fixed support frame 1 on base 4, ladder piece 3 is placed to the opposite side on base 4, and laser ranging sensor 2 installs on support frame 1 and the direction of 2 laser beams of laser ranging sensor is towards ladder piece 3 one side.
Furthermore, a reference hole e and an arc hole h can be arranged on the support frame 1; the reference hole e and the circular arc hole h are respectively connected with the reference hole f and the reference hole g on the laser ranging sensor 2 through bolts, so that the laser ranging sensor 2 emits laser beams towards one side of the stepped block 3.
Further, the circular arc hole h may be set with the center of the circle of the reference hole e as the center of the circle.
Further, the number of layers of the step block 3 may be set to be greater than 10.
Further, the tread of the step block 3 can be set to be a horizontal plane, and the flatness of the horizontal plane is higher than 0.01 mm.
Specifically, for example, the laser distance measuring sensor is keyence IA-100, a reference hole a and a reference hole b on the support frame 1 are respectively connected with a reference hole c and a reference hole d on the base 4 by bolts to realize coaxial matching, and a reference hole e and an arc hole h on the support frame 1 are respectively connected with a reference hole f and a reference hole g on the laser distance measuring sensor 2 by bolts to ensure that the laser distance measuring sensor keeps a fixed angle and emits a laser beam obliquely downwards; the reference holes f and g are 2-phi 3.2 reference holes carried by the laser ranging sensor, wherein the horizontal distance between the reference holes f and g is 11.7mm, and the vertical distance between the reference holes f and g is 46.1 mm; the circular arc hole h is a circular arc drawn by taking a circular point of e as the center of a circle, the groove width is 3.2mm, and the reference hole e is a reference hole with the radius of 3.2 mm. The ladder layer can be set for, be greater than 10 layers according to actual demand, and the layer height is 10mm, and the plane degree of ladder horizontal plane is higher than 0.01 mm. The base can be a marble table.
The utility model can be used by the following steps:
step 1: opening a laser ranging sensor 2 in the laser ranging sensor precision testing device, and enabling the laser ranging sensor 2 to emit a laser beam from the point O; wherein, the point O is a laser beam emergent point of the laser ranging sensor;
step 2: dragging the step block to enable laser beams to be emitted on the horizontal planes of different steps of the step block 3, and recording the length reading of the phase stress optical ranging sensor by using an upper computer based on serial port communication;
if the laser beam is irradiated on the horizontal plane of the ith step of the step block 3, the included angle theta between the laser beam irradiated on the horizontal plane of the ith step and the vertical directioniComprises the following steps:
wherein A isiPoints representing the laser beam incident on the level of the ith step, Ai' represents and AiPoints on the same horizontal straight line; 1,2, n-1,n represents the top layer; a. the1,A2,,...,AnIn line with point O, A1',A2',...,An' is in a vertical direction straight line with point O;
laser beam OA incident on the level of the i-step read by the laser range sensor 2iLength of the laser ranging sensor 2 and the laser beam OA irradiated on the level of the i +1 step read by the laser ranging sensori+1The difference in length of (a);
represents line segment Ai+1'Ai' and is the height of the corresponding ith step;
the 4-level ladder illustrated in fig. 2 is used for explaining, and the & lt A can be obtained by the geometrical relationn-1AnP＝θn-1(ii) a Wherein OAnAnd OAn-1Has a known length of (A), OAnThe reading of the laser distance measuring sensor is OA when the laser beam is irradiated on the topmost n-step horizontal surface of the step blockn-1For the reading of the laser ranging sensor when the laser beam is irradiated on the n-1 th step horizontal plane, the geometrical relationship shows that AnAn-1Is equal to OAn-1Length of (a) minus OAnLength of (d). Due to the straight line An'An-1' parallel to line AnP, also known as An'An-1The length of the step is the step height of the step block, and the included angle theta between the horizontal laser beam emergent at the nth step and the vertical direction can be calculated according to the inverse cosine lawnThe calculation formula is as follows:
wherein the content of the first and second substances,
represents line segment An'An-1' and AnAn-1Length of (d).
And step 3: according to the counted included angle theta between the laser beams of n-1 different step horizontal planes and the vertical directioniCalculating the average value, and taking the average value as the optimal included angle thetabest(ii) a The arithmetic mean value theta of the included angle between n-1 laser beams and the vertical direction is takenaverageTo an optimum angle thetabestThe actual calculation theta can be reducediA slight error is brought to the subsequent calculation of OAnThe theoretical value is closer to the real value, and meanwhile, the method for obtaining the optimal included angle has the characteristics of convenience and rapidness in operation, high efficiency, low cost and the like.
And 4, step 4: according to the optimal included angle thetabestAnd a laser beam OA irradiated on the level of the n-step read by the laser range sensor 2nLength of (2)
Further using the cosine theorem to obtain OAnTheoretical length of `
The calculation formula is as follows:
and 5: obtained according to step 4
Establishing a laser beam length mathematical model, and calculating the theoretical length of the laser beam, wherein the laser beam theoretical length calculation formula is as follows:
LRj＝Hj/cosθbest
wherein L isRjLaser beam OA representing calculated incidence from O point at level of j-th stepjThe theoretical length of (d);
the vertical height from the point O to the horizontal plane of the j-th step to be measured is shown, h shows the height of the step and the height of each step is consistent, n shows the stepTotal number of ladders, j ═ 1, 2.., n; l isRjDepending on the arrangement of the laser ranging sensors, HjDepending on the number of layers of the step surface;
step 6: and (3) calculating the difference between the theoretical length of the laser beam obtained in the step (5) and the reading of the laser ranging sensor 2 to obtain the length error of the laser beam, wherein the calculation formula is as follows:
errorj＝LRj-Lj
wherein, errorjRepresents LRjReading L of laser beam shot from O point at level of j step read by laser ranging sensor 2jThe difference between them.
In obtaining thetabestThereafter, further determination of the line segment OA is requirednIs used to calculate OAn' for subsequent derivation of the mathematical model, and the present invention will optimize the angle θbestOA with small length errornFor calculating OAn', make OAnThe theoretical length value of' is infinitely close to the true value. Wherein, because AnThe point is the lower limit of the measuring range of the laser ranging sensor, and the length error is small and can be ignored, so the OA can be usednInstead of its true value. And the accuracy test of the laser ranging sensor can be carried out by observing the magnitude of the error value.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (5)
1. The utility model provides a laser rangefinder sensor precision verifying attachment which characterized in that: comprises a support frame (1), a laser ranging sensor (2), a step block (3) and a base (4); wherein, one side fixed support frame (1) is gone up in base (4), and ladder piece (3) are placed to the opposite side on base (4), and laser ranging sensor (2) are installed on support frame (1) and the direction of laser ranging sensor (2) laser beam is towards ladder piece (3) one side.
2. The laser ranging sensor accuracy testing apparatus as claimed in claim 1, wherein: a reference hole e and an arc hole h are formed in the support frame (1); the reference hole e and the circular arc hole h are respectively connected with the reference hole f and the reference hole g on the laser ranging sensor (2) to enable the laser ranging sensor (2) to emit laser beams towards one side of the step block (3).
3. The laser ranging sensor accuracy testing apparatus as claimed in claim 2, wherein: the circular arc hole h takes the circle center of the reference hole e as the circle center.
4. The laser ranging sensor accuracy testing apparatus as claimed in claim 1, wherein: the number of layers of the step block (3) is more than 10.
5. The laser ranging sensor accuracy testing apparatus as claimed in claim 1, wherein: the tread of ladder piece (3) is the horizontal plane, and the plane degree of horizontal plane is higher than 0.01 mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123411365.8U CN216718678U (en) | 2021-12-31 | 2021-12-31 | Laser rangefinder sensor precision verifying attachment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123411365.8U CN216718678U (en) | 2021-12-31 | 2021-12-31 | Laser rangefinder sensor precision verifying attachment |
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| Publication Number | Publication Date |
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| CN216718678U true CN216718678U (en) | 2022-06-10 |
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| CN202123411365.8U Active CN216718678U (en) | 2021-12-31 | 2021-12-31 | Laser rangefinder sensor precision verifying attachment |
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2021
- 2021-12-31 CN CN202123411365.8U patent/CN216718678U/en active Active
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