Laser ranging sensor beam center horizontal adjustment device and adjustment method

Abstract

The present application provides a laser ranging sensor beam center horizontal adjustment device and an adjustment method, the adjustment device comprises a movable robot body, a laser ranging sensor arranged on the robot body, an adjustment mechanism, a calibration panel, an imaging acquisition device and a processing and display device, the adjustment mechanism is arranged between the robot body and the laser ranging sensor, and is used to fine-tune the installation position of the laser ranging sensor; the calibration panel, the imaging acquisition device and the processing and display device together constitute a calibration system for whether the beam center is horizontal, which is used to detect whether the beam center emitted by the laser ranging sensor installed on the robot body is horizontal, and through the cooperation of the adjustment mechanism and the calibration system, the emission and receiving beam centers of the laser ranging sensor can be placed horizontally, thereby ensuring the accuracy of robot body positioning, mapping and path planning.

Description

Technical Field

[0001] The present application relates to the field of laser ranging sensors, and in particular to a device and method for adjusting the center of a laser ranging sensor beam horizontally. Background Art

[0002] With the development of artificial intelligence technology, the robot body is becoming more and more intelligent, especially the mobile robot body that can autonomously plan its path and walk is gradually being used in various life scenarios. Laser ranging sensors have become

[0003] The key component of the robot's walking and obstacle avoidance is to accurately measure the distance between the center of the laser beam and the target object through transmission and reception, accurately scan the surrounding physical environment and feed back to the robot's processing system for positioning, mapping and path execution planning.

[0004] like Figure 1 As shown in the figure, all laser distance measuring sensors on the market have a certain pitch angle θ, and different laser distance measuring sensors have different pitch angles. Since laser distance measuring sensors are directly installed on the robot body, during the installation process, it is often impossible to ensure that the center of the light emitted by the laser distance measuring sensor is located in the horizontal plane, which directly affects the accuracy of the robot body positioning, mapping, and path planning. Summary of the invention

[0005] In view of the above-mentioned deficiencies of the laser ranging sensor currently installed on the robot body, the present application provides a laser ranging sensor beam center horizontal adjustment device, which can make the emission and receiving beam centers of the laser ranging sensor horizontal.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0007] A laser distance measuring sensor beam center horizontal adjustment device, comprising:

[0008] A robot body, wherein the robot body is movable;

[0009] A laser distance measuring sensor, wherein the laser distance measuring sensor is arranged on the robot body;

[0010] An adjustment mechanism, the adjustment mechanism is arranged between the robot body and the laser ranging sensor, and is used to fine-tune the installation position of the laser ranging sensor;

[0011] A calibration panel, the calibration panel is vertically arranged and spaced a preset distance from the robot body in the horizontal direction, and a reference image is provided on the calibration panel, the reference image is used to indicate a reference position of the image when the center of the light beam emitted by the laser ranging sensor is placed horizontally;

[0012] An imaging acquisition device, which is arranged in front of the calibration panel and avoids the center of the light beam emitted by the laser ranging sensor, and is used to acquire real-time imaging emitted by the laser ranging sensor and formed on the calibration panel;

[0013] A processing and display device, wherein the processing and display device mainly comprises a processing device and a display device, wherein the processing device is communicatively connected with the imaging acquisition device and the display device, and the processing device is used to analyze and process whether the difference between the real-time imaging and the reference imaging falls within a preset error range, and to feed back the analysis result through the display device.

[0014] Preferably, the adjustment mechanism comprises:

[0015] A connecting plate, the connecting plate is fixedly connected to the robot body, the connecting plate is provided with a first mounting position, and the first mounting position is provided with a first threaded mounting hole;

[0016] A mounting bracket, the mounting bracket is arranged in cooperation with the first mounting position, the mounting bracket is provided with a second threaded mounting hole that cooperates with the first threaded mounting hole, the mounting bracket is provided with a second mounting position, and the laser ranging sensor is fixedly connected to the second mounting position;

[0017] An elastic adjusting member, wherein the elastic adjusting member is disposed between the first threaded mounting hole and the second threaded mounting hole, and the elastic adjusting member is provided with a through hole;

[0018] A locking screw, the lower end of which passes through the second threaded mounting hole, the through hole and the first threaded mounting hole, to fix the mounting bracket and the connecting plate together.

[0019] Preferably, the elastic adjusting member is a rubber ring.

[0020] Preferably, the mounting bracket is provided with a limiting protrusion, the first mounting position is provided with a limiting groove, and the limiting protrusion and the limiting groove are arranged in coordination.

[0021] Preferably, the mounting bracket is provided with a guide protrusion, the first mounting position is provided with a guide groove, and the guide protrusion and the guide groove are arranged in coordination.

[0022] Preferably, the preset distance is not less than a minimum value of a measurement distance of the laser ranging sensor, and not greater than a maximum value of a measurement distance of the laser ranging sensor.

[0023] Preferably, the preset distance is the median of the measurement distance of the laser ranging sensor.

[0024] Preferably, the reference imaging includes an upper end line, a reference line and a lower end line which are arranged horizontally and equidistantly, the reference line is a projection line of the center of the light beam of the laser ranging sensor on the calibration panel, the upper end line is the uppermost end of the allowable imaging range of the laser ranging sensor on the calibration panel, and the lower end line is the lowermost end of the allowable imaging range of the laser ranging sensor on the calibration panel.

[0025] Preferably, the imaging acquisition device is an infrared camera.

[0026] A method for adjusting the center of a laser ranging sensor beam horizontally comprises the following steps:

[0027] Step 1: Mark the reference image on the calibration panel;

[0028] Step 2: The robot body rotates at a constant speed for a preset number of circles in place, and the imaging acquisition device synchronously and intermittently acquires real-time images on the calibration panel;

[0029] Step 3: The processing display device determines whether the center imaging of the light beam of the laser ranging sensor exceeds the preset error range of the reference imaging according to the real-time imaging;

[0030] Step 4: If the preset error range is exceeded, the processing and display device feeds back to the user through the processing and display device, and the user adjusts the position of the laser ranging sensor on the robot body through the adjustment mechanism;

[0031] Step 5: Repeat steps 2, 3 and 4 until the center of the beam of the laser ranging sensor is determined to be within the preset error range according to the real-time imaging.

[0032] Preferably, the method for horizontally adjusting the center of the laser ranging sensor beam also includes an imaging calibration step, which is located between step one and step two. The imaging calibration step is specifically as follows: the imaging device collects real-time imaging of the laser ranging sensor on the calibration panel until the error of the two real-time imagings falls into a preset calibration error range.

[0033] Preferably, the preset number of turns is at least 3 turns.

[0034] Preferably, the robot body rotates in place at a constant speed for a preset number of circles, and the imaging acquisition device synchronously and intervally acquires real-time images on the calibration panel. Specifically, the robot body rotates in place at a constant speed for a preset number of circles, and the imaging acquisition device acquires real-time images on the calibration panel every time the robot body rotates 10° or 20°.

[0035] Advantages of the implementation of the present application: The present application provides a laser ranging sensor beam center horizontal adjustment device and adjustment method, the adjustment device includes a movable robot body, a laser ranging sensor arranged on the robot body, an adjustment mechanism, a calibration panel, an imaging acquisition device, and a processing and display device. The adjustment mechanism is arranged between the robot body and the laser ranging sensor, and is used to fine-tune the installation position of the laser ranging sensor; the calibration panel, the imaging acquisition device and the processing and display device together constitute a calibration system for whether the beam center is horizontal, which is used to detect whether the beam center emitted by the laser ranging sensor installed on the robot body is horizontal. Through the cooperation of the adjustment mechanism and the calibration system, the emission and receiving beam centers of the laser ranging sensor can be placed horizontally, thereby ensuring the accuracy of robot body positioning, mapping, and path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A schematic diagram of the pitch angle formed by the center of the light beam emitted by the laser ranging sensor described in the background technology of this application;

[0038] Figure 2 A schematic diagram of the structure and connection relationship of a laser ranging sensor beam center horizontal adjustment device described in an embodiment of the present application;

[0039] Figure 3 A schematic diagram of reference imaging on a calibration panel of a laser ranging sensor beam center horizontal adjustment device according to an embodiment of the present application;

[0040] Figure 4 A three-dimensional schematic diagram of an adjustment mechanism of a laser ranging sensor beam center horizontal adjustment device according to an embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the split structure of an adjustment mechanism of a device for adjusting the center of a laser ranging sensor beam horizontally according to an embodiment of the present application;

[0042] Figure 6 This is a flow chart of a method for adjusting the center of a laser ranging sensor beam horizontally according to an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] like Figure 2 and Figure 3 As shown, a laser ranging sensor beam center horizontal adjustment device comprises:

[0045] A robot body 1, wherein the robot body 1 is provided with a wheel set and can move autonomously according to a pre-set program;

[0046] A laser distance measuring sensor 2 is provided on the robot body 1 and is used to detect the distance between the robot body 1 and the target object, accurately scan the surrounding physical environment and feed back to the processing system of the robot body 1 for positioning, mapping and path execution planning;

[0047] An adjusting mechanism 3, wherein the adjusting mechanism 3 is arranged between the robot body 1 and the laser ranging sensor 2, and is used for fine-tuning the installation position of the laser ranging sensor 2;

[0048] A calibration panel 4, wherein the calibration panel 4 is vertically arranged and is spaced a preset distance from the robot body 1 in the horizontal direction, and a reference image is provided on the calibration panel 4, and the reference image is used to indicate a reference position of an image when the center of the light beam emitted by the laser ranging sensor 2 is placed horizontally;

[0049] An imaging acquisition device 5, which is arranged in front of the calibration panel 4 and avoids the center of the light beam emitted by the laser ranging sensor 2, and is used to collect real-time imaging emitted by the laser ranging sensor 2 and formed on the calibration panel 4;

[0050] The processing and display device 6 mainly includes a processing device and a display device. The processing device is communicatively connected with the imaging acquisition device 5 and the display device. The processing device is used to analyze and process whether the difference between the real-time imaging and the reference imaging falls within a preset error range, and to feed back the analysis result through the display device.

[0051] The adjustment mechanism 3 is mainly used to fine-tune the position of the laser ranging sensor 2 on the robot body 1, and can be of various structures. In some embodiments of the present application, for example Figure 4 and Figure 5 As shown, the structure of the adjustment mechanism 3 includes:

[0052] The connecting plate 11 is fixedly connected to the robot body 1, wherein the fixed connection can be in various ways, such as Figure 3 and Figure 4 As shown, the connecting plate 11 is bolted to the robot body 1. In addition, a first mounting position 111 is provided on the connecting plate 11, and a first threaded mounting hole 112 is provided on the first mounting position 111. The position of the connecting plate 11 on the robot body 1 and the position of the first mounting position 111 on the connecting plate 11 can be selected according to the use environment of the robot body 1, such as Figure 3 and Figure 4 In the robot body 1 shown, the connecting plate 11 is arranged on the top of the robot, the first mounting position 111 is arranged at the middle position of the connecting plate 11, and the first threaded mounting hole 112 is arranged at the edge position of the first mounting position 111;

[0053] The mounting bracket 12 is arranged in cooperation with the first mounting position 111. The mounting bracket 12 is provided with a second threaded mounting hole 122 that cooperates with the first threaded mounting hole 112. The mounting bracket 12 is provided with a second mounting position 121, and the laser ranging sensor 2 is fixedly connected to the second mounting position 121. By providing the mounting bracket 12, on the one hand, the laser ranging sensor 2 can be quickly and conveniently replaced, especially when the model of the laser ranging sensor 2 is changed, it can be done by replacing the corresponding mounting bracket 12, that is, re-setting the second mounting position 121 on the mounting bracket 12 without assembling on the robot body 1. On the other hand, by providing the mounting bracket 12, the connecting plate 11 and the laser ranging sensor 2 are detachably connected, providing adjustment space for fine-tuning the laser ranging sensor 2.

[0054] An elastic adjusting member 13, wherein the elastic adjusting member 13 is arranged between the first threaded mounting hole 112 and the second threaded mounting hole 122, and a through hole is provided on the elastic adjusting member 13; the elastic adjusting member 13 can undergo a certain deformation, so that by adjusting the pressure acting on the elastic adjusting member 13, the distance between the first threaded mounting hole 112 and the second threaded mounting hole 122 is adjusted, thereby realizing the position of the above-mentioned laser ranging sensor 2 relative to the robot body 1.

[0055] The locking screw 14, the lower end of which passes through the second threaded mounting hole 122, the through hole and the first threaded mounting hole 112, to fix the mounting bracket 12 and the connecting plate 11. The tightening and loosening of the locking screw 14 can fine-tune the pressure acting on the elastic adjustment member 13, control the deformation of the elastic adjustment member 13, and further fine-tune the position of the laser ranging sensor 2 relative to the robot body 1.

[0056] The elastic adjusting member 13 is sleeved on the locking screw 14 , and a ring shape is a preferred shape, which may be a rubber ring, or a metal elastic member such as a compression spring or a disc spring.

[0057] In addition, in order to make the mounting bracket 12 and the first connecting plate 11 cooperate better, the mounting bracket 12 is provided with a limiting protrusion 114, and the first mounting position 111 is provided with a limiting groove. The limiting protrusion 114 and the limiting groove are arranged in cooperation with each other. Through the cooperation between the limiting protrusion 114 and the limiting groove, the circumferential movement of the mounting relative to the connecting plate 11 can be prevented.

[0058] In some embodiments of the present application, the mounting bracket 12 is provided with a guide protrusion 123, and the first mounting position 111 is provided with a guide groove 113. The guide protrusion 123 and the guide groove 113 are arranged in coordination with each other, and the guide protrusion 123 and the guide groove 113 can further indicate the correct installation of the laser ranging sensor 2 on the mounting bracket 12.

[0059] Theoretically, the preset distance is not less than the minimum value of the measurement distance of the laser ranging sensor 2, and not greater than the maximum value of the measurement distance of the laser ranging sensor 2. However, in practical applications, we prefer that the preset distance is the median of the measurement distance of the laser ranging sensor 2. This can make it more accurate to place the emission and receiving beam centers of the laser ranging sensor 2 horizontally.

[0060] like Figure 3 As shown, the reference imaging includes an upper end line 41, a reference line 42 and a lower end line 43 which are arranged horizontally and equidistantly. The reference line 42 is a projection line of the center of the beam of the laser ranging sensor 2 on the calibration panel 4. The upper end line 41 is the uppermost end of the imaging allowable range of the laser ranging sensor 2 on the calibration panel 4. The lower end line 43 is the lowermost end of the imaging allowable range of the laser ranging sensor 2 on the calibration panel 4. The distance L1 between the upper end line 41 and the reference line 42 and the upper elevation angle θ1 satisfy the following relationship:

[0061]

[0062] The distance L2 between the upper end line 41 and the reference line 42 and the upper elevation angle θ2 satisfy the following relationship:

[0063]

[0064] Wherein, the calibration panel is white and has the best reflective effect.

[0065] There are many options for the imaging acquisition device 5. In some embodiments of the present application, the imaging acquisition device 5 is a camera with infrared function, and an infrared camera is commonly used.

[0066] A method for adjusting the center of a beam of a laser ranging sensor 2 horizontally, used for adjusting the center of a beam of a laser ranging sensor 2 horizontally, comprises the following steps:

[0067] S1: Marking the reference image on the calibration panel 4;

[0068] S2: The robot body 1 rotates at a constant speed for a preset number of circles in place, and the imaging acquisition device 5 synchronously and intermittently acquires real-time images on the calibration panel 4;

[0069] S3: The processing and display device 6 determines whether the center imaging of the light beam of the laser ranging sensor 2 exceeds the preset error range of the reference imaging according to the real-time imaging;

[0070] S4: If the preset error range is exceeded, the processing and display device 6 provides feedback to the user through the processing and display device 6, and the user adjusts the position of the laser ranging sensor 2 on the robot body 1 through the adjustment mechanism 3;

[0071] S5: Repeat step 2, step 3 and step 4 until it is determined according to the real-time imaging that the center of the light beam of the laser ranging sensor 2 does not exceed the preset error range.

[0072] The method for adjusting the center of the beam of the laser ranging sensor 2 horizontally also includes an imaging calibration step. Before executing step 2, the imaging acquisition device 5 pre-acquires the image on the calibration panel 4, and executes step S2 after the acquired image is stable. The image to be acquired is stable by comparing whether the difference between the two sets of images acquired successively coincide, or whether they fall within a preset calibration error range.

[0073] In addition, the preset error range mentioned in step 3, step 4 and step 5 can be set according to the usage scenario of the robot body 1. The smaller the preset error range, the closer the center of the light beam of the laser ranging sensor 2 is to the horizontal.

[0074] Preferably, the preset number of circles is at least 3. In order to ensure the accuracy of adjusting the center of the beam of the laser ranging sensor 2 to the horizontal, the robot body 1 is preferably rotated at least 3 circles, and the more circles it rotates, the higher the accuracy.

[0075] Preferably, the robot body 1 rotates at a constant speed in place for a preset number of circles, and the imaging acquisition device 5 synchronously and intermittently acquires the real-time image on the calibration panel 4. Specifically, the robot body 1 rotates at a constant speed in place for a preset number of circles, and the imaging acquisition device 5 acquires the real-time image on the calibration panel 4 once every 10° or 20° rotation of the robot body 1. The more groups of real-time imaging acquisition, the higher the accuracy. In the currently commonly used laser ranging sensor 2, the robot body 1 acquires once every 10° or 20° rotation, which can achieve better accuracy.

[0076] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A laser distance measuring sensor beam center horizontal adjustment device, comprising a movable robot body and a laser distance measuring sensor arranged on the robot body, characterized in that: Also includes: An adjustment mechanism, the adjustment mechanism is arranged between the robot body and the laser ranging sensor, and is used to fine-tune the installation position of the laser ranging sensor; A calibration panel, the calibration panel is vertically arranged and spaced a preset distance from the robot body in the horizontal direction, and a reference image is provided on the calibration panel, the reference image is used to indicate a reference position of the image when the center of the light beam emitted by the laser ranging sensor is placed horizontally; An imaging acquisition device, which is arranged in front of the calibration panel and avoids the center of the light beam emitted by the laser ranging sensor, and is used to acquire real-time imaging emitted by the laser ranging sensor and formed on the calibration panel; A processing and display device, the processing and display device mainly comprises a processing device and a display device, the processing device is communicatively connected with the imaging acquisition device and the display device, the processing device is used to analyze and process whether the difference between the real-time imaging and the reference imaging falls within a preset error range, and to feed back the analysis result through the display device; The regulating mechanism comprises: A connecting plate, the connecting plate is fixedly connected to the robot body, the connecting plate is provided with a first mounting position, and the first mounting position is provided with a first threaded mounting hole; A mounting bracket, the mounting bracket is arranged in cooperation with the first mounting position, the mounting bracket is provided with a second threaded mounting hole that cooperates with the first threaded mounting hole, the mounting bracket is provided with a second mounting position, and the laser ranging sensor is fixedly connected to the second mounting position; An elastic adjusting member, wherein the elastic adjusting member is disposed between the first threaded mounting hole and the second threaded mounting hole, and the elastic adjusting member is provided with a through hole; A locking screw, the lower end of which passes through the second threaded mounting hole, the through hole and the first threaded mounting hole to fix the mounting bracket and the connecting plate; The imaging acquisition device is an infrared camera.

2. The laser ranging sensor beam center horizontal adjustment device according to claim 1, characterized in that: The elastic adjusting member is one of a rubber ring, a compression spring or a disc spring.

3. The laser ranging sensor beam center horizontal adjustment device according to claim 2, characterized in that: The mounting bracket is provided with a limiting protrusion, and the first mounting position is provided with a limiting groove, and the limiting protrusion and the limiting groove are arranged in coordination.

4. The laser ranging sensor beam center horizontal adjustment device according to claim 2, characterized in that: The mounting bracket is provided with a guide protrusion, the first mounting position is provided with a guide groove, and the guide protrusion and the guide groove are arranged in coordination.

5. The laser distance measuring sensor beam center horizontal adjustment device according to claim 1, characterized in that: The preset distance is not less than a minimum value of a measurement distance of the laser ranging sensor, and not greater than a maximum value of a measurement distance of the laser ranging sensor.

6. The laser distance sensor beam center horizontal adjustment device according to claim 4, characterized in that: The preset distance is the median of the measurement distance of the laser ranging sensor.

7. The laser distance sensor beam center horizontal adjustment device according to claim 1, characterized in that: The reference imaging includes an upper end line, a reference line and a lower end line which are arranged horizontally and equidistantly, the reference line is a projection line of the center of the light beam of the laser ranging sensor on the calibration panel, the upper end line is the uppermost end of the allowable imaging range of the laser ranging sensor on the calibration panel, and the lower end line is the lowermost end of the allowable imaging range of the laser ranging sensor on the calibration panel.

8. The method for adjusting the laser distance sensor beam center horizontal adjustment device according to any one of claims 1 to 7, characterized in that: The steps include: Step 1: Mark the reference image on the calibration panel; Step 2: The robot body rotates at a constant speed for a preset number of circles in place, and the imaging acquisition device synchronously and intermittently acquires real-time images on the calibration panel; Step 3: The processing display device determines whether the center imaging of the light beam of the laser ranging sensor exceeds the preset error range of the reference imaging according to the real-time imaging; Step 4: If the preset error range is exceeded, the processing and display device feeds back to the user through the processing and display device, and the user adjusts the position of the laser ranging sensor on the robot body through the adjustment mechanism; Step 5: Repeat steps 2, 3 and 4 until it is determined based on the real-time imaging that the center of the light beam of the laser ranging sensor does not exceed the preset error range.

9. The adjustment method according to claim 8, characterized in that: The method also includes an imaging calibration step, which is located between step one and step two. The imaging calibration step is specifically as follows: the imaging acquisition device acquires real-time imaging of the laser ranging sensor on the calibration panel until the error between the two real-time imagings falls into a preset calibration error range.

10. The adjustment method according to claim 9, characterized in that: The preset number of circles is at least 3 circles.

11. The adjustment method according to claim 8, characterized in that: The robot body rotates at a constant speed for a preset number of times in place, and the imaging acquisition device synchronously and intermittently acquires real-time images on the calibration panel. Specifically, the robot body rotates at a constant speed for a preset number of times in place, and the imaging acquisition device acquires real-time images on the calibration panel once every 10° or 20° rotation of the robot body.

Images