WO2022109793A1 - 激光校准装置及其调节方法 - Google Patents

激光校准装置及其调节方法 Download PDF

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Publication number
WO2022109793A1
WO2022109793A1 PCT/CN2020/131183 CN2020131183W WO2022109793A1 WO 2022109793 A1 WO2022109793 A1 WO 2022109793A1 CN 2020131183 W CN2020131183 W CN 2020131183W WO 2022109793 A1 WO2022109793 A1 WO 2022109793A1
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Prior art keywords
laser
swing
calibration
laser generator
base
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PCT/CN2020/131183
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English (en)
French (fr)
Inventor
黄世棋
塞尼卡·本和
何明灏
Original Assignee
罗伯特·博世有限公司
黄世棋
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Application filed by 罗伯特·博世有限公司, 黄世棋 filed Critical 罗伯特·博世有限公司
Priority to US18/253,745 priority Critical patent/US20240044670A1/en
Priority to DE112020007550.8T priority patent/DE112020007550T5/de
Priority to CN202080107413.3A priority patent/CN116783453A/zh
Priority to PCT/CN2020/131183 priority patent/WO2022109793A1/zh
Publication of WO2022109793A1 publication Critical patent/WO2022109793A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Definitions

  • the present application relates to the field of laser alignment, and more particularly, to a unidirectionally lockable laser alignment device.
  • laser alignment devices are generally laser generating devices and adjustment accessories.
  • the laser generating device is used to emit different types of calibration lasers to meet the actual needs of calibration tasks, and the adjustment accessories are used to adjust the calibration laser projected on the object to be calibrated.
  • the adjustment accessories are used to adjust the calibration laser projected on the object to be calibrated. For example, for a laser generating device that emits a horizontal laser line, it is usually necessary to adjust the height of the calibration laser by adjusting the accessories, so as to improve the work efficiency.
  • one type of laser generating device is not equipped with automatic leveling element, and this type of device has higher requirements on the leveling degree of the operating site and the proficiency of the operator; Equipped with automatic leveling elements, such leveling elements can swing in multiple directions to achieve leveling, and can be locked in all directions when the leveling is completed, so that there is no longer between the laser generator and the automatic leveling element. Relative motion occurs. At this time, if the height adjustment or horizontal swing of the outgoing laser is performed, or the laser alignment device is moved a small distance, the leveling degree may not be accurate.
  • the laser generating device requires high precision, so in such a case, it may be necessary to re-level each operation, which is relatively time-consuming. Therefore, improvements in laser alignment devices are desired to overcome the deficiencies in the prior art.
  • the present invention provides a laser alignment device, thereby effectively solving or alleviating one or more of the above problems and other problems existing in the prior art.
  • a laser alignment device which includes: a laser generating device, which has: a housing; a laser generator, which is arranged in the housing and is used for generating Calibration laser; automatic leveling element, which is arranged in the housing, the automatic leveling element is connected to the laser generator, and drives the laser generator to move towards a plurality of laser generators under the action of gravity of the laser generator The direction swings so that the calibration laser generated by the laser generator is parallel to the horizontal plane; wherein, the laser calibration device has a semi-locked state, and in the semi-locked state, the swing of the self-leveling element toward the front-rear direction is prevented by limit.
  • a method for adjusting a laser alignment device which is used in the aforementioned laser alignment device, which includes: S100, unlocking the locking member, The self-leveling element drives the laser generator to swing in multiple directions under the action of gravity of the laser generator, so that the alignment laser output direction of the laser generator is parallel to the horizontal plane; and S200, locking the lock The swing of the self-leveling element and the laser generator toward the front-rear direction is restricted.
  • the laser generating device by providing the laser generating device with an automatic leveling element that can only lock the swing in the front and rear directions, the debugging before the device is officially working is facilitated. For example, before the laser generating device is unlocked, sufficient leveling is provided for the laser generating device. degrees of freedom.
  • FIG. 1 is a schematic perspective view of an adjustable base and a laser calibration reference device of an embodiment of a laser calibration device
  • FIG. 2 is a schematic perspective view of a universal joint connector of a laser generating device according to an embodiment of the laser alignment device
  • FIG. 3 is a schematic perspective view of a universal joint connector of a laser generating device according to an embodiment of the laser alignment device, wherein the cantilever assembly is omitted;
  • FIG. 4 is a schematic side view of the universal joint connector of the laser generating device of an embodiment of the laser alignment device in FIG. 3 , wherein the cross drive shaft swings forward;
  • FIG. 5 is a schematic side view of the universal joint connector of the laser generating device of an embodiment of the laser alignment device in FIG. 3 , wherein the cross drive shaft swings backward;
  • FIG. 6 is a schematic side view of the laser generating device of an embodiment of the laser alignment device after omitting the housing, wherein the locking pin is not locked by the clamping member;
  • FIG. 7 is a schematic side view of the laser generating device of an embodiment of the laser alignment device after omitting the housing, wherein the locking pin has been locked by the clamping member;
  • Figure 8 is a schematic perspective view of the laser generating device of one embodiment of the laser alignment device, wherein the locking pin has been locked by the clamp;
  • Fig. 9 is a partial enlarged schematic view of the laser generating device of one embodiment of the laser alignment device in Fig. 8, wherein the locking pin has been locked by the clamping member;
  • FIG. 10 is a schematic perspective view of the laser generating device of one embodiment of the laser alignment device, wherein the mode switch on the housing is shown;
  • FIG. 11 is an application schematic diagram of an embodiment of a laser calibration device, wherein a laser generating device and a laser calibration reference are shown;
  • FIG. 12 is a schematic diagram of an angular deflection error occurring in an application of a laser generating device of an embodiment of a laser calibration device
  • FIG. 13 is a schematic perspective view of a correction method after an angle deflection error occurs in an application of the laser generating device of an embodiment of the laser calibration device;
  • FIG. 14 is a schematic plan view of the correction method of the laser generating device after an angular deflection error occurs in the application of an embodiment of the laser calibration device;
  • Figure 15 is a flow chart of one embodiment of a method of adjusting a laser alignment device.
  • the longitudinal axis X is directed in the front-rear direction
  • the lateral axis Y is directed in the left-right direction
  • the vertical axis Z is directed in the up-down direction.
  • the above-mentioned direction coordinate system is established with the laser emission direction of the laser generator as the "forward" mentioned in the text. It should be known that the establishment of this coordinate system is intended to simplify the textual description of the embodiments of the laser alignment device of the present application, rather than constituting a mandatory limitation on the direction.
  • Those skilled in the art can arbitrarily adjust the direction coordinate system according to requirements or habits, as long as it conforms to the concept of the present application, it should still fall within the scope of the claims listed in the present application.
  • the laser alignment device generally includes two parts, namely: the laser generating device 100 as shown in FIGS. 2 and 6-9 and the adjustable base 200 as shown in FIG. 1 .
  • the laser generating device 100 is used for providing a calibration laser, and includes a casing 110 and a laser generator which is not marked in the figure and is disposed in the casing 110 .
  • the adjustable base 200 is used to further adjust the laser projected by the laser generator 100 to the target to be calibrated, such as changing its height or translating it.
  • the adjustable base 200 includes a base 210 and an adjustable platform 220 .
  • the adjustable platform 220 can be connected to the laser generating device 100 by means of a snap, screw connection, etc. on the one hand, so as to realize the linkage between the two;
  • the horizontal axis Y of the base 210 swings back and forth, so as to drive the laser generating device 100 to swing back and forth to adjust the height of the emitted calibration laser; Landscape position.
  • the technical solution of the present application realizes the swing adjustment of the laser generating device by providing an adjustable platform for the laser generating device.
  • the calibration laser on the calibration object has a proportional adjustment in the vertical direction, which can provide a larger adjustment range, eg, the adjustment range can be simply increased by rotating and increasing the distance between the laser generator and the object to be calibrated.
  • the laser alignment device can also have a semi-locked state, and in the semi-locked state, the swing of the automatic leveling element toward the front-rear direction is restricted.
  • the laser generating device with an automatic leveling element that can only lock the swing in the front-to-back direction, the debugging before the actual operation of the device is facilitated, for example, before the laser generating device is unlocked, sufficient leveling freedom is provided for the laser generating device.
  • the laser generating device 100 may further include an automatic leveling element disposed in the housing 110 so as to automatically level the calibration laser generated by the laser generator.
  • the self-leveling element can be connected to a laser generator.
  • the automatic leveling element will move under the gravity of the laser generator itself, and at the same time drive the laser generator to swing in multiple directions to automatically level , finally making the collimated laser generated by the laser generator parallel to the horizontal plane.
  • the laser generating device 100 may further include a locking member 130 .
  • the locking member 130 can only limit the swing of the automatic leveling element toward the front-rear direction. It should be understood by those skilled in the art that, although the restricted swing is in the front-rear direction, it is not limited to the front or the rear. According to the teaching of the present invention, as long as the swing has a component in the front-rear direction, and the limitation of the swing can achieve the purpose of the present invention, it belongs to the "forward-rear direction" that the present invention is intended to describe.
  • the universal joint connector 120 includes a universal joint base 121 connected to the housing 110 , a cantilever assembly 122 connected to the laser generator, and a cross drive shaft 123 pivotally connected between the universal joint base 121 and the cantilever assembly 122 .
  • the cantilever assembly 122 and the universal joint base 121 are used as connecting parts, and the cross drive shaft 123 disposed therebetween is used as a transmission part.
  • FIGS. 3 to 5 show the universal joint connection 120 without the cantilever assembly 122 .
  • the cross drive shaft 123 includes a first drive shaft 123 a extending along the transverse axis Y of the universal joint connecting piece 120 and a second drive shaft extending along the longitudinal axis X of the universal joint connecting piece 120 shaft 123b.
  • the first transmission shaft 123 a is pivotally connected to the universal joint base 121
  • the second transmission shaft 123 b is pivotally connected to the cantilever assembly 122 .
  • the universal joint base 121 and its connected components can swing back and forth relative to the first transmission shaft 123a, while the cantilever assembly 122 and its connected components can swing left and right relative to the second transmission shaft 123b.
  • the gimbal base 121 since the gimbal base 121 has been fixed to the housing 110 of the laser generating device 100 , it can no longer move relative to it. Therefore, the relative movement, whether swinging back and forth or swinging left and right, is performed for the laser generator connected to the cantilever assembly 122 .
  • the first drive shaft 123a of the cross drive shaft 123 The laser generator can be driven to swing back and forth about the transverse axis Y of the universal joint connector 120, or the second transmission shaft 123b of the cross drive shaft 123 can drive the laser generator to swing left and right about the longitudinal axis X of the universal joint connector 120,
  • the collimated laser light generated by the laser generator is thus made parallel to the horizontal plane.
  • the locking member 130 is specifically used to limit only the swinging of the universal joint member 120 in the front-rear direction (ie, the direction indicated by the transverse axis Y shown in the drawings).
  • the locking member 130 includes a clamping member 132 disposed in the housing 110 and a corresponding locking pin 131 disposed on the universal joint connecting member 120 .
  • the locking pin 131 and the clamping member 132 are in a separated state.
  • the swinging direction of the universal joint connecting member 120 is only affected by gravity and is not constrained, and can be automatically leveled.
  • the clamping member 132 can be actuated by an actuator to lock the locking pin 131 , and at this time, the locking member 130 can be locked by only locking the first transmission shaft 123 a Limiting the back and forth swing of the universal joint connector 120 (that is, the direction indicated by the transverse axis Y shown in the drawings), that is, the angle between the emitted laser and the wall will be fixed, so as to facilitate the subsequent realization by the adjustable base 200 The exit laser height adjustment during the actual calibration process.
  • the unlocked universal joint connector 120 can still be used in the left-right direction (that is, in the accompanying drawings). Its leveling is achieved by oscillating in the direction indicated by the longitudinal axis X shown).
  • the adjustable platform 220 is configured to include a rotating platform 221 and a swinging platform 222, both of which can be used to perform their respective actions.
  • the rotating platform 221 can be connected to the laser generating device 100 and can drive the laser generating device 100 to swing left and right about the vertical axis Z of the base 210 .
  • the swinging platform 222 is connected to the rotating platform 221 and can drive the laser generating device 100 and the rotating platform 221 to swing back and forth about the transverse axis Y of the base 210 .
  • a circular opening can be provided on the top of the swing platform 222, and the rotating platform 221 can be configured as a circular platform, so that the circular The shaped rotating platform 221 may be disposed in the circular opening of the swinging platform 222 .
  • the cooperation of the circular contour between the two enables the rotation platform 21 to swing left and right about the vertical axis Z of the base 210 without being interfered by the swing platform 222, and at the same time, it can also drive the connected laser generating device 100 to swing left and right, so as to realize the opposite projection.
  • Adjustment of the lateral position of the laser on the object to be calibrated; the swinging action of the swing platform 222 about the lateral axis Y of the base 210 can drive the rotating platform 221 and the laser generator 100 connected to it to swing back and forth together, so as to Realize the adjustment of the height of the laser projected on the object to be calibrated.
  • knobs and associated transmission mechanisms may also be provided on the adjustable base 200 to control the rotating platform 221 and the swing platform 222 on the adjustable platform 220 .
  • the control knob of the rotating platform 221 may be provided on the adjustable platform 220
  • the control knob of the swing platform 222 may be provided on the base 210 .
  • a laser calibration reference 300 may be additionally configured for it. As shown in FIG. 1 and FIG. 11 , it has a vertical rear wall 310 abutting against the object to be calibrated and a front wall 320 facing the laser generating device 100 ; wherein, the rear wall 310 is provided with a calibration mark 311 , and the front wall 320 is provided with a calibration mark 311 . A calibration mark 321 is provided, and the connecting line between the two is perpendicular to the rear wall.
  • the laser generator 100 is driven to swing left and right about the vertical axis Z of the base 210 by operating the rotating platform 221, so that the calibration laser emitted by the laser generator is connected with the calibration marks 311 and 321.
  • the alignment of the laser generator and the object to be calibrated can be quickly and easily achieved, so as to carry out the subsequent calibration process.
  • the laser alignment device and the laser alignment reference are presented as separate structures in application, they can be assembled together for portability in a non-application state.
  • an accommodating space 211 with an opening can be provided on the base 210 of the adjustable base 200 for accommodating the laser calibration reference 300 in a non-application state.
  • the laser calibration device in the foregoing embodiment can be applied to various laser calibration scenarios, it is especially suitable for the occasions where line lasers are required for calibration.
  • the line laser With its horizontal swing function, the line laser can be leveled quickly and accurately. And through its front and back swing function, the height of the linear laser can be easily adjusted. Therefore, the laser light generated by the laser generator can also be converted into a linear laser or a cross laser via a diffraction channel.
  • the present application provides three operating modes: on mode, off mode and semi-lock mode by arranging the switch 111 on the housing 110 and triggering the switch.
  • the laser generator starts to work and can generate a calibration laser, and at the same time, the swing direction of the universal joint connector 120 used for automatic leveling will change with gravity, and is no longer restricted by other swings;
  • the laser generator stops generating the calibration laser, and at the same time, the gimbal connection 120 for automatic leveling will be completely locked, so that no swing can occur;
  • the semi-locked mode the laser The generator works normally, and as described in the previous embodiment, the clamping member 132 will lock the locking pin 131, at this time, the universal joint connecting member 120 and the laser generator to which it is connected can only move in the left-right direction (ie, the attached laser generator).
  • the adjustable base (200) can be combined to realize the vertical or lateral translation of the laser light emitted by the laser generator (this lateral translation adjustment process usually requires the assistance of a laser calibration reference), so as to realize its adjustment on the wall surface. Height or position adjustment.
  • the laser projection angle between the laser generating device and the object to be calibrated may be caused error.
  • the angle error of the horizontal line laser It will be affected by parameters such as the forward and backward swing angle ⁇ of the laser generator, the angle ⁇ of the projected calibration laser, the shortest distance dv between the laser generator and the target to be calibrated, and the width wt of the calibration mark on the laser calibration reference 300 .
  • the angle error can also be obtained by obtaining and calculating the aforementioned known parameters , for easy correction. This will make the device more user friendly.
  • the adjustment method applicable to the laser alignment apparatus in any of the foregoing embodiments or a combination thereof will be further described below with reference to FIG. 15 .
  • the method may generally include a leveling step and a commissioning step.
  • the leveling step it aims to realize the automatic leveling of the laser generating device relative to the application environment before the laser calibration device officially works.
  • S100 can be executed to unlock the Locking member 130
  • the automatic leveling element drives the laser generator to swing in multiple directions under the gravity of the laser generator, so that the alignment laser output direction of the laser generator is parallel to the horizontal plane.
  • S200 is executed, the locking member 130 is locked, the swing of the automatic leveling element and the laser generator in the front-rear direction is restricted, and the automatic leveling element can still drive the laser generator to swing in other directions under the gravity of the laser generator, This completes the automatic leveling before the device works.
  • the debugging step it is aimed at realizing the debugging of the emitted laser light of the laser generating device relative to the object to be calibrated according to the calibration requirements during the working process of the laser calibration device, for example, to adjust the height of the calibration laser
  • S300 can be executed, By adjusting the adjustable platform 220 of the adjustable base 200 , the adjustable platform 220 and the laser generator 100 connected thereto are swung back and forth about the transverse axis Y of the base 210 to adjust the height of the outgoing calibration laser.
  • S400 can be executed, and the adjustable platform 220 and the laser generator 100 connected thereto can be adjusted by adjusting the adjustable platform 220 of the adjustable base 200 .
  • the vertical axis Z of the base 210 swings left and right to adjust the emitted calibration laser so that it overlaps with the connecting line of the calibration marks 311 and 321 , thereby realizing the adjustment of the perpendicularity to the wall.
  • the height adjustment or verticality adjustment of the outgoing laser can be realized by other accessories or manual operations during the debugging process of the machine in formal work. During the process, a certain level of leveling can still be achieved by swinging the unlocked automatic leveling element in other directions.

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Abstract

一种激光校准装置及其调节方法。激光校准装置包括：激光发生装置（100），其具有：壳体（110）；激光发生器，其设置在壳体（110）内，并用于发生校准激光；自动调平元件，其设置在壳体（110）内，自动调平元件连接至激光发生器，并在激光发生器的重力作用下带动激光发生器朝多个方向摆动，使得由激光发生器发生的校准激光平行于水平面；其中，激光校准装置具有半锁定状态，在半锁定状态下，自动调平元件朝向前后方向的摆动被限制。促进了装置正式工作前的调试，如在自动调平元件的前后摆动未锁定前，为激光发生装置提供了充分的调平自由度；在完成调平后锁定自动调平元件的前后摆动，从而避免产生运动死点等问题。

Description

激光校准装置及其调节方法 技术领域
本申请涉及激光校准领域，更具体而言，本申请涉及一种可单向锁定的激光校准装置。
背景技术
在现有技术中，已经十分成熟地将激光技术应用于测量领域或建筑领域中，以执行测量、对准或调节目标对象等工作任务。常规的激光校准装置总体上激光发生装置以及调节附件。其中，激光发生装置用于发射不同类型的校准激光来满足实际执行的校准任务需要，而调节附件则用于对投射在待校准对象上的校准激光进行调节。例如，对于发射水平激光线的激光发生装置而言，通常需要通过调节附件来调节其校准激光的高度，以便提高工作效率。对于此种激光校准装置，其中一类激光发生装置不配有自动调平元件，则此类装置对操作场地的平整程度及操作人员的熟练度具有更高的要求；而另一类激光发生状通配备有自动调平元件，此类调平元件可具有朝向多个方向摆动来实现调平的功能，且在完成调平能够进行全方位锁定，使得激光发生器与自动调平元件之间不再发生相对运动。此时，若进行出射激光的高度调整或水平摆动等操作时，或者小距离移动激光校准装置时，则可能其调平度不再精确。而激光发生装置对于精度要求较高，故此类情形下可能每次操作均需要重新调平，较为费时。因此，期望对激光校准装置做出改进，以克服现有技术中存在的缺陷。
发明内容
有鉴于此，本发明提供了激光校准装置，从而有效解决或缓解了现有技术中存在的以上这些问题以及其他方面问题中的一个或多个。
为解决上述技术问题之一，根据本申请的一个方面，提供一种激光校准装置，其包括：激光发生装置，其具有：壳体；激光发生器，其设置在所述壳体内，并用于发生校准激光；自动调平元件，其设置在所述壳体内，所述自动调平元件连接至所述激光发生器，并在所述激光发生器的重力作用下带动所述激光发生器朝多个方向摆动，使得由所述激光发生器发生的校准激光平行于水平面；其中，所述激光校准装置具有半锁定状态，在所述半锁定状态下，所述自动调平元件朝向前后方向的摆动被限制。
为解决上述技术问题之一，根据本申请的另一个方面，还提供一种激光校准装置的调节方法，其用于如前所述的激光校准装置，其包括：S100，解锁所述锁定件，所述自动调平元件在所述激光发生器的重力作用下带动所述激光发生器朝多个方向摆动，使得所述激光发生器的校准激光出射方向平行于水平面；以及S200，锁定所述锁定件，所述自动调平元件及所述激光发生器朝向前后方向的摆动被限制。
根据本申请的技术方案，通过为激光发生装置提供能够仅锁定前后方向摆动的自动调平元件，促进了装置正式工作前的调试，如在未锁定前，为激光发生装置提供了充分的调平自由度。且在完成调平后的装置正式工作过程中，通过仅锁定其前后方向的摆动而不锁定其他方向的摆动，一方面可避免机器移动或操作过程中发生不期望的大角度倾斜，避免了产生运动死点等问题；另一方面在机器正式工作过程中通过其他附件或人工操作来实现出射激光的高度调整时，还可通过自动调平元件在其他方向的摆动来实现一定程度的调平。
附图说明
结合附图参阅以下具体实施方式的详细说明，将更加充分地理解本申请，附图中同样的附图标记指代视图中同样的元件。其中：
图1是激光校准装置的一个实施例的可调节底座及激光校准参照器的立体示意图；
图2是激光校准装置的一个实施例的激光发生装置的万向节连接件的立体示意图；
图3是激光校准装置的一个实施例的激光发生装置的万向节连接件的立体示意图，其中省略了悬臂组件；
图4是图3中的激光校准装置的一个实施例的激光发生装置的万向节连接件的侧视示意图，其中十字传动轴向前摆动；
图5是图3中的激光校准装置的一个实施例的激光发生装置的万向节连接件的侧视示意图，其中十字传动轴向后摆动；
图6是激光校准装置的一个实施例的激光发生装置省略壳体后的侧视示意图，其中锁定销未被夹持件锁定；
图7是激光校准装置的一个实施例的激光发生装置省略壳体后的侧视示意图，其中锁定销已被夹持件锁定；
图8是激光校准装置的一个实施例的激光发生装置的立体示意图，其中锁定销已 被夹持件锁定；
图9是图8中的激光校准装置的一个实施例的激光发生装置的局部放大示意图，其中锁定销已被夹持件锁定；
图10是激光校准装置的一个实施例的激光发生装置的立体示意图，其中示出壳体上的模式开关；
图11是激光校准装置的一个实施例的应用示意图，其中示出激光发生装置及激光校准参照器；
图12是激光校准装置的一个实施例的激光发生装置在应用中发生角度偏转误差的示意图；
图13是激光校准装置的一个实施例的激光发生装置在应用中发生角度偏转误差后的校正方式的立体示意图；
图14是激光校准装置的一个实施例的激光发生装置在应用中发生角度偏转误差后的校正方式的俯视示意图；
图15是激光校准装置的调节方法的一个实施例的流程图。
具体实施方式
下文将参照附图中的示例性实施例来详细地描述本申请。但应当知道的是，本申请可通过多种不同的形式来实现，而不应该被理解为限制于本文所阐述的实施例。在此提供这些实施例旨在使得本申请的公开内容更为完整与相近，并将本申请的构思完全传递给本领域技术人员。
此外，对于在本文所提及的实施例中予以描述或隐含的任意单个技术特征，或者被显示或隐含在各附图中的任意单个技术特征，本申请仍然允许在这些技术特征(或其等同物)之间继续进行任意组合或者删减而不存在任何的技术障碍，由此获得可能未在本文中直接提及的本申请的更多其它实施例。
在本文中，为便于对各个零部件的结构或相对位置关系进行描述，提供了一套用于表示方向的坐标系。如，指向前后方向的纵向轴线X，指向左右方向的横向轴线Y以及指向上下方向的竖向轴线Z。上述方向坐标系以激光发生器的激光射出方向作为文中述及的“前方”而设立。应当知道的是，该坐标系的建立旨在简化对本申请的激光校准装置的实施例的文字描述，而非构成方向上的强制性限定。本领域技术人员可以根据需求或习惯任意调整该方向坐标系，只要其符合本申请的构想，则仍应落入本申请所列权利要求的范围中。
请结合参阅图1至图11所示，其提供了一种激光校准装置的实施例。该激光校准装置大体上包括两部分，即：如图2、6-9所示出的激光发生装置100以及如图1所示的可调节底座200。其中，激光发生装置100用于提供校准激光，其包括壳体110以及图中未标示的设置在壳体110内的激光发生器。而可调节底座200则用于对激光发生装置100所投射至待校准目标上的激光做出进一步的调整，例如改变其高度或者对其进行平移等。该可调节底座200包括基座210以及可调节平台220。其中，该可调节平台220一方面可通过卡扣、螺接等固定方式连接至激光发生装置100，从而实现二者的联动；另一方面可以活动连接至基座210，从而能够关于基座210的横向轴线Y前后摆动，以便实现带动激光发生装置100前后摆动来调整射出校准激光的高度；或者关于基座210的竖向轴线Z左右摆动，以便实现带动激光发生装置100左右摆动射出校准激光的横向位置。在此种布置下，本申请的技术方案通过为激光发生装置提供可调节平台来实现了对激光发生装置的摆动调节，一方面使其可以实现水平方向的校准，另一方面使其投射在待校准对象上的校准激光具有沿竖直方向的成比例调节，可以提供更大的调节范围，例如，可通过旋转以及增加激光发生装置和待校准对象之间的距离来简单地增加其调节范围。其中，该激光校准装置还可具有半锁定状态，在半锁定状态下，所述自动调平元件朝向前后方向的摆动被限制。此时，通过为激光发生装置提供能够仅锁定前后方向摆动的自动调平元件，促进了装置正式工作前的调试，如在未锁定前，为激光发生装置提供了充分的调平自由度。且在完成调平后的装置正式工作过程中，通过仅锁定其前后方向的摆动而不锁定其他方向的摆动，一方面可避免机器移动或操作过程中发生不期望的大角度倾斜，避免了产生运动死点等问题；另一方面在机器正式工作过程中通过其他附件或人工操作来实现出射激光的高度调整时，还可通过自动调平元件在其他方向的摆动来实现一定程度的调平。
在前述实施例的基础上，还可对该激光校准装置的各个零部件或其连接位置关系做出若干改型，以达成其他技术效果，如下将予以示例性说明。
例如，参见图2至图9，该激光发生装置100还可包括设置在壳体110内的自动调平元件，以便对激光发生器发生的校准激光进行自动调平。具体而言，可将该自动调平元件连接至激光发生器。此时，当激光发生装置100因应用场景变化而发生倾斜等现象时，自动调平元件将在激光发生器自身的重力作用下发生运动，同时带动激光发生器朝多个方向摆动来自动调平，最终使得由激光发生器发生的校 准激光平行于水平面。该激光发生装置100还可包括锁定件130。为便于执行激光校准功能，在激光发生装置100完成自动调平后，可通过锁定件130来仅限制自动调平元件朝向前后方向的摆动。本领域技术人员应当知道的是，虽然所受限的摆动为前后方向，但并非仅局限于正前方或正后方。根据本发明的教示，只要该摆动存在前后方向的分量，且该摆动的受限能够实现本发明的目的，则其均属于本发明所旨在描述的“前后方向”。
继续参见附图2、6至7，图中示出了一种自动调平元件的具体实施例，即万向节连接件120。该万向节连接件120包括连接壳体110的万向节基座121、连接激光发生器的悬臂组件122以及枢接于万向节基座121及悬臂组件122之间的十字传动轴123。其中，悬臂组件122以及万向节基座121用作连接部件，而设置在二者之间的十字传动轴123则用作传动部件。
为更加清晰地示出十字传动轴123的结构，图3至图5示出了省略悬臂组件122的万向节连接件120。由图示可知，该十字传动轴123包括沿着万向节连接件120的横向轴线Y延伸设置的第一传动轴123a以及沿着万向节连接件120的纵向轴线X延伸设置的第二传动轴123b。且第一传动轴123a枢接于万向节基座121，第二传动轴123b枢接于悬臂组件122。在此种布置下，万向节基座121及其连接的零部件可关于第一传动轴123a实现前后摆动，而悬臂组件122及其连接的零部件可关于第二传动轴123b实现左右摆动。
具体而言，由于万向节基座121已经固定至激光发生装置100的壳体110，故其无法再发生相对运动。因此无论是前后摆动或左右摆动的相对运动均针对悬臂组件122所连接的激光发生器进行。此时，由于激光发生器可转动地吊装在该万向节连接件120的下方，因而当存在装置整体被倾斜放置等情形时，在重力作用下，该十字传动轴123的第一传动轴123a可带动激光发生器关于万向节连接件120的横向轴线Y前后摆动，或者该十字传动轴123的第二传动轴123b可带动激光发生器关于万向节连接件120的纵向轴线X左右摆动，由此使得由激光发生器发生的校准激光平行于水平面。
继续参见附图6至9，图中同样示出了一种锁定件的实施例。该锁定件130具体地用于仅限制万向节连接件120的沿前后方向(即附图中示出的横向轴线Y所指示的方向)的摆动。具体而言，该锁定件130包括设置在壳体110内的夹持件132以及设置在万向节连接件120上的相应的锁定销131。如图6所示，锁定销131 与夹持件132处于分离状态，此时，万向节连接件120的摆动方向仅受到重力影响而不被约束，可以自动调平。如图7至图9所示，在完成自动调平后，可通过致动器来致动夹持件132以锁定该锁定销131，此时锁定件130可通过仅锁定第一传动轴123a来限制万向节连接件120的前后摆动(即附图中示出的横向轴线Y所指示的方向)，也即射出激光与墙面的角度将被固定，以便于后续通过可调节底座200来实现实际校准过程中的射出激光高度调节。若在可调节底座200通过旋转激光发生器来实现激光高度调节的过程中，激光发生装置存在轻微晃动时，也依然可以通过未被锁定的万向节连接件120沿左右方向(即附图中示出的纵向轴线X所指示的方向)的摆动来实现其调平。
另一方面，关于可调节底座而言，还可对其中的可调节平台做出进一步的改进。例如，参见图1，该可调节平台220被配置成包括旋转平台221以及摆动平台222，二者可分别用于执行各自的动作。具体而言，旋转平台221可连接至激光发生装置100，并能够带动激光发生装置100关于基座210的竖向轴线Z左右摆动。而摆动平台222则连接至旋转平台221，并能够带动激光发生装置100及旋转平台221关于基座210的横向轴线Y前后摆动。如图所示，为实现二者的装配，且避免二者之间的运动发生干涉，可在摆动平台222的顶部设置有圆形开口，并将旋转平台221配置成圆形平台，如此使得圆形的旋转平台221可以被设置在摆动平台222的圆形开口中。二者之间的圆形轮廓配合使得旋转平台21关于基座210的竖向轴线Z左右摆动不会被摆动平台222所干涉，同时还可带动其连接激光发生装置100左右摆动，以实现对投射在待校准对象上的激光的横向位置的调整；而摆动平台222关于基座210的横向轴线Y前后摆动动作则可以带动旋转平台221及其所连接的激光发生装置100一并发生前后摆动，以实现对投射在待校准对象上的激光的高度的调整。
再者，为便于操作，还可在可调节底座200分别设置旋钮及关联的传动机构来实现对可调节平台220上的旋转平台221以及摆动平台222的控制。作为一个示例，旋转平台221的控制旋钮可以设置在可调节平台220上，而摆动平台222的控制旋钮可以设置在基座210上。
此外，为进一步地提高在激光校准装置在对准(也即，垂直于)待校准对象过程中的便捷程度，还可以为其额外配置激光校准参照器300。如图1及图11所示，其具有抵靠待校准对象的竖直后壁310以及面向激光发生装置100的前壁 320；其中，后壁310上设置有校准标识311，且前壁320上设置有校准标识321,二者的连线垂直于后壁。在激光校准参照器的辅助下，通过操作旋转平台221来带动激光发生装置100关于基座210的竖向轴线Z左右摆动，使得激光发生器所射出的校准激光与校准标识311、321的连线重合，则可以快速便捷地实现激光发生器与待校准对象的对准，从而进行随后的校准过程。
可选地，虽然激光校准装置与激光校准参照器在应用中呈现为分离的结构，但在非应用状态下，可以将二者装配在一起以便携带。例如，如图1所示，可在可调节底座200的基座210上设置具有开口的容纳空间211，以用于容纳非应用状态下的激光校准参照器300。
此外，虽然前述实施例中的激光校准装置可应用各类激光校准场景，但其尤其适用于需要线形激光来进行校准的场合。此时，通过其水平摆动功能，可以快速准确地将线形激光调平。且经由其前后摆动功能，可以方便地对该线形激光做出高度调整。因此，还可使该激光发生器生成的激光经由衍射通道转换成线性激光或十字激光。
结合前述实施例中的激光校准装置，本申请通过在壳体110上设置开关111，并以开关触动的方式，为其提供了三种工作模式：开启模式、关闭模式以及半锁定模式。其中，在开启模式下，激光发生器开始工作并可以发生校准激光，同时，用于自动调平的万向节连接件120的摆动方向将随着重力而发生变化，不再受到其他摆动限制；在关闭模式下，激光发生器停止发生校准激光，同时，用于自动调平的万向节连接件120将被完全锁死，进而无法再发生任何摆动；而在半锁定模式下时，则激光发生器正常工作，同时如前述实施例中所述及，夹持件132将锁定该锁定销131，此时万向节连接件120及其所连接的激光发生器仅能够沿左右方向(即附图中示出的纵向轴线X所指示的方向)的摆动，而无法再沿其前后方向摆动。此种模式通常适用于已经完成激光发生装置和待校准对象(例如，壁面)之间的垂直对准后，此时通常无需再进行竖向调节，可以锁定该万向节连接件120的前后摆动，也即已经完成了激光校准的前期调试工作。随后，可以再结合可调节底座(200)来实现对激光发生器发射出的激光的竖向或横向平移(该横向平移调试过程通常需要激光校准参照器的协助)，以实现其在壁面上的高度或位置调整。
如图12所示，在此类激光校准装置的半锁定模式的应用过程中，当其投射横线激光时，由于场地或操作等原因，可能会导致激光发生装置与待校准对象的 激光投射角度误差。该横线激光的角度误差
Figure PCTCN2020131183-appb-000001
会受到激光发生装置的前后摆动角度θ、投影出的校准激光的角度α、激光发生装置与待校准目标之间的最短距离dv以及激光校准参照器300上的校准标识的宽度wt等参数的影响。
继续参见图13及图14，结合附图示出的各个参数及以下表征参数关系的计算式，最终可通过计算获得该横线激光的角度误差
Figure PCTCN2020131183-appb-000002
：
(1):d＝dv/cosα,
(2):tanθ＝(h+Δh)/d,
(3):h＝dv*tanθ,
结合等式(1)-(3)，得出Δh＝dv*tanθ/cosα-h；
(4):ΔL＝t-dv*tan(α/2),
(5):t＝wt/2,
(6):
Figure PCTCN2020131183-appb-000003
结合等式(4)-(6)，得出
Figure PCTCN2020131183-appb-000004
由此，即便在操作过程中存在轻微的横线激光的角度误差
Figure PCTCN2020131183-appb-000005
，也可以通过对前述已知参数的获取和计算来得到该角度误差
Figure PCTCN2020131183-appb-000006
，以便于纠正。如此将使得该装置更为便于用户操作。
如下将结合图15来进一步描述适用于前述任意实施例或其组合中的激光校准装置的调节方法。该方法大体上可包括调平步骤以及调试步骤。
其中，关于调平步骤而言，其旨在于激光校准装置正式工作前，实现激光发生装置相对于应用环境的自动调平，例如，在应用环境存在小角度的坡度时，可执行S100，解锁该锁定件130，此时自动调平元件在激光发生器的重力作用下带动激光发生器朝多个方向摆动，使得激光发生器的校准激光出射方向平行于水平面。随后执行S200，锁定该锁定件130，自动调平元件及激光发生器朝向前后方向的摆动被限制，且自动调平元件在激光发生器的重力作用下仍可带动激光发生器朝向其他方向摆动，由此完成装置工作前的自动调平。
此后，关于调试步骤而言，其旨在于激光校准装置的工作过程中，根据校准需求来实现激光发生装置的出射激光相对于待校准对象的调试，例如为调试校准激光的高度，可执行S300，通过调整可调节底座200的可调节平台220，使可调节平台220及与其连接的激光发生装置100关于基座210的横向轴线Y前后摆动，以调节出射的校准激光的高度。再如，为调节校准激光与待校准对象(例如，墙面)的垂直度，可执行S400，通过调整可调节底座200的可调节平台220，使可调节平 台220及与其连接的激光发生装置100关于基座210的竖向轴线Z左右摆动，以调节出射的校准激光，使其与校准标识311、321的连线重叠，由此来实现与墙面垂直度的调试。应当知道的是，虽然自动调平元件及激光发生器沿其前后方向的摆动已被锁定，但在机器正式工作的调试过程中通过其他附件或人工操作来实现出射激光的高度调整或垂直度调整的过程中时，依然可通过未被锁定的自动调平元件在其他方向的摆动来实现一定程度的调平。
以上具体实施方式仅用于说明本申请，而并非对本申请的限制。为说明相对位置关系，本申请中使用了左右、上下等相对的方位术语，并非对于绝对位置的限定。有关技术领域的普通技术人员，在不脱离本申请的范围的情况下，还可以对本申请的技术方案做出各种变化和变型，因此所有等同的技术方案也属于本申请的范畴，本申请的专利保护范围应由权利要求限定。

Claims (15)

  1. 一种激光校准装置，其特征在于，包括：激光发生装置(100)，其具有：
    壳体(110)；
    激光发生器，其设置在所述壳体(110)内，并用于发生校准激光；
    自动调平元件，其设置在所述壳体(110)内，所述自动调平元件连接至所述激光发生器，并在所述激光发生器的重力作用下带动所述激光发生器朝多个方向摆动，使得所述激光发生器的校准激光出射方向平行于水平面；
    其中，所述激光校准装置具有半锁定状态，在所述半锁定状态下，所述自动调平元件朝向前后方向的摆动被限制。
  2. 根据权利要求1所述的激光校准装置，其特征在于，
    所述自动调平元件包括万向节连接件(120)，其在重力作用下带动所述激光发生器关于所述万向节连接件(120)的横向轴线(Y)前后摆动，和/或带动所述激光发生器关于所述万向节连接件(120)的纵向轴线(X)左右摆动，使得由所述激光发生器发生的校准激光平行于水平面；以及
    锁定件(130)，其用于仅限制所述万向节连接件(120)的前后摆动。
  3. 根据权利要求2所述的激光校准装置，其特征在于，所述锁定件(130)包括设置在所述壳体(110)内的锁定销(131)或夹持件(132)，以及设置在所述万向节连接件(120)上的相应的夹持件(132)或锁定销(131)；其中，在所述锁定销(131)被所述夹持件(132)锁定时，所述锁定件(130)仅限制所述万向节连接件(120)的前后摆动。
  4. 根据权利要求2所述的激光校准装置，其特征在于，所述万向节连接件(120)包括：连接所述壳体的万向节基座(121)、连接所述激光发生器的悬臂组件(122)以及枢接于所述万向节基座(121)及所述悬臂组件(122)之间的十字传动轴(123)；其中，所述十字传动轴(123)包括沿着所述万向节连接件(120)的横向轴线(Y)延伸设置的第一传动轴(123a)以及沿着所述万向节连接件(120)的纵向轴线(X)延伸设置的第二传动轴(123b)。
  5. 根据权利要求4所述的激光校准装置，其特征在于，所述第一传动轴(123a)枢接于所述万向节基座(121)，且所述第二传动轴(123b)枢接于所述悬臂组件(122)。
  6. 根据权利要求4所述的激光校准装置，其特征在于，所述锁定件(130)用于仅限制所述第一传动轴(123a)的转动。
  7. 根据权利要求1至6任意一项所述的激光校准装置，其特征在于，还包括：可调节底座(200)，其具有：
    基座(210)；以及
    可调节平台(220)，其连接至所述激光发生装置(100)及所述基座(210)，并能够关于所述基座(210)的横向轴线(Y)前后摆动，以及关于所述基座(210)的竖向轴线(Z)左右摆动。
  8. 根据权利要求7所述的激光校准装置，其特征在于，还包括激光校准参照器(300)，其具有抵靠待校准对象的竖直后壁(310)以及面向所述激光发生装置(100)的前壁(320)；其中，所述后壁(310)及所述前壁(320)上分别设置校准标识(311、321)，所述校准标识(311、321)的连线垂直于所述后壁。
  9. 根据权利要求8所述的激光校准装置，其特征在于，所述基座包括具有开口的容纳空间(211)，所述容纳空间用于容纳所述激光校准参照器(300)。
  10. 根据权利要求7所述的激光校准装置，其特征在于，所述可调节平台(220)包括：旋转平台(221)，其连接至所述激光发生装置(100)，并能够带动所述激光发生装置(100)关于所述基座(210)的竖向轴线(Z)左右摆动；以及摆动平台(222)，其连接至所述旋转平台(221)，并能够带动所述激光发生装置(100)及所述旋转平台(221)关于所述基座(210)的横向轴线(Y)前后摆动。
  11. 根据权利要求10所述的激光校准装置，其特征在于，所述摆动平台(222)的顶部设置有圆形开口，且所述旋转平台(221)配置成圆形平台；其中所述圆形平台设置在所述摆动平台(222)的所述圆形开口中。
  12. 根据权利要求2至6任意一项所述的激光校准装置，其特征在于，包括：
    开启模式，激光发生器开始发生校准激光，所述激光发生器能够关于所述万向节连接件(120)的横向轴线(Y)前后摆动，且所述激光发生器能够关于所述万向节连接件(120)的纵向轴线(X)左右摆动；
    关闭模式，激光发生器停止发生校准激光，所述激光发生器的所述前后摆动以及所述左右摆动均被锁定；以及
    半锁定模式，激光发生器开始发生校准激光，所述激光发生器关于所述万向节连接件(120)的横向轴线(Y)前后摆动被锁定，且所述激光发生器能够关于所述万向节连接件(120)的纵向轴线(X)左右摆动。
  13. 一种激光校准装置的调节方法，其用于如权利要求2至12任意一项所述的 激光校准装置，其特征在于，包括：
    S100，解锁所述锁定件(130)，所述自动调平元件在所述激光发生器的重力作用下带动所述激光发生器朝多个方向摆动，使得所述激光发生器的校准激光出射方向平行于水平面；以及
    S200，锁定所述锁定件(130)，所述自动调平元件及所述激光发生器朝向前后方向的摆动被限制，且所述自动调平元件在所述激光发生器的重力作用下带动所述激光发生器朝向其他方向摆动。
  14. 根据权利要求13所述的激光校准装置的调节方法，其特征在于，在所述激光校准装置还包括所述可调节底座(200)时，所述调节方法还包括：
    S300，通过调整所述可调节底座(200)的可调节平台(220)，使所述可调节平台(220)及与其连接的所述激光发生装置(100)关于所述基座(210)的横向轴线(Y)前后摆动，以调节出射的校准激光的高度。
  15. 根据权利要求14所述的激光校准装置的调节方法，其特征在于，在所述激光校准装置还包括所述激光校准参照器(300)时，所述调节方法还包括：
    S400，通过调整所述可调节底座(200)的可调节平台(220)，使所述可调节平台(220)及与其连接的所述激光发生装置(100)关于所述基座(210)的竖向轴线(Z)左右摆动，以调节出射的校准激光，使其与所述校准标识(311、321)的连线重叠。
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