Surface laser line tracking device and rubber compound laying vehicle

Abstract

The present invention discloses a surface laser line-tracing device and a rubber material laying vehicle. The surface laser line-tracing device includes a mounting seat, a light source assembly, a camera, and a polarizer. The light source assembly and the camera are both arranged on the mounting seat. The light source assembly is used to emit polarized light with a projection plane being a plane. The camera is used to receive the reflected light of the polarized light emitted by the light source assembly. The polarizer is arranged at the light receiving end of the camera. The polarization direction of the polarized light emitted by the light source assembly is not parallel to the polarization direction of the polarizer. Due to the fact that the polarization direction of the polarized light emitted by the light source assembly is not parallel to the polarization direction of the polarizer in the technical solution of the present invention, the polarized light undergoing specular reflection will be filtered out by the polarizer, while a part of the polarized light undergoing diffuse reflection passes through the polarizer and reaches the camera. The boundary of the polarized light emitted by the light source assembly is determined through the camera to determine the boundary line between two different road surfaces. Due to the presence of the polarizer, strong light interference can be reduced and the line-tracing accuracy can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction, and in particular to a surface laser line patrol device and a rubber material paving vehicle. Background Art

[0002] The line patrol device is a device that emits a light beam through a light source. After the light beam is reflected by the target ground, the device determines the intersection line between two different road conditions on the target ground by analyzing the reflected light.

[0003] Currently, the line patrol device on the market uses a light source to emit a light beam. After the light beam reaches the ground and is reflected by the ground, it is received by a camera. The different road conditions have different reflective abilities on the light beam, so that the brightness of the light beam received by the camera is different. The brightness of the light beam received by the camera is processed and analyzed to obtain the intersection line of light beams of different brightness, and thus the intersection line between different road conditions is determined by the intersection line of light beams of different brightness. However, the line patrol device is easily interfered by strong light, especially when patrolling roads with both mirror reflection and diffuse reflection capabilities. Due to the high brightness of the light reflected by the mirror, the intersection line between the two is blurred, resulting in low line patrol accuracy. Summary of the invention

[0004] The main purpose of the present invention is to provide a surface laser line patrol device and a rubber material paving vehicle, aiming to solve the technical problem of low line patrol accuracy of the line patrol device.

[0005] To achieve the above objectives, the surface laser line patrol device proposed by the present invention includes:

[0006] Mounting seat;

[0007] A light source assembly, the light source assembly being disposed on the mounting seat and configured to emit polarized light having a plane projection surface;

[0008] a camera, the camera being disposed on the mounting seat and being configured to receive reflected light of the polarized light emitted by the light source assembly;

[0009] A polarizer is arranged at the light receiving end of the camera, and the polarization direction of the polarized light emitted by the light source assembly is not parallel to the vibration transmission direction of the polarizer.

[0010] Optionally, the light source assembly is a surface laser.

[0011] Optionally, the camera is located on the side of the surface laser away from its emitting end, and the surface laser is annular in shape to form a light hole on the surface laser. The light receiving end of the camera is arranged opposite to the light hole to receive the reflected light in the light hole.

[0012] Optionally, the surface laser and the camera are respectively arranged on two sides of the mounting base, and the mounting base is provided with a through hole, which is connected to the light through hole to allow the reflected light in the light through hole to pass through.

[0013] Optionally, the surface laser line patrol device further includes:

[0014] A mounting bracket is provided on the camera, and the mounting bracket is used for being installed on a rubber laying vehicle.

[0015] Optionally, the surface laser line patrol device further includes:

[0016] A light shield is arranged on the mounting base, the surface laser is arranged in the light shield, the polarized light emitted by the surface laser is emitted from the opening of the light shield, and the camera is arranged on a side of the mounting base away from the light shield.

[0017] Optionally, the opening of the light shield gradually increases in an emission direction of the polarized light emitted by the surface laser.

[0018] Optionally, the camera includes:

[0019] a camera body, the camera body being configured to receive reflected light of the polarized light emitted by the light source assembly;

[0020] The mounting tube is arranged on the mounting seat, the light receiving end of the camera body and the polarizing plate are both arranged in the mounting tube, and the polarizing plate is located at the light receiving end of the camera body.

[0021] In addition, the present invention also provides a rubber paving vehicle, the rubber paving vehicle comprising:

[0022] A surface laser line patrol device as described in any of the above technical solutions;

[0023] The vehicle body is provided with the surface laser line patrol device.

[0024] Optionally, the surface laser line patrol device is detachably mounted on the vehicle body, and the mounting position of the surface laser line patrol device on the vehicle body is adjustable; or / and

[0025] The surface laser line patrol device can be raised and lowered relative to the vehicle body.

[0026] In the technical solution of the present invention, when the polarized light emitted by the light source assembly reaches two different road surfaces, a part of the polarized light will be reflected to the polarizer in a specular reflection manner by one of the road surfaces, and the other part of the polarized light will be reflected to the polarizer in a diffuse reflection manner by the other road surface. Since the polarization direction of the polarized light emitted by the light source assembly is not parallel to the polarization direction of the polarizer, the polarized light emitted by the specular reflection will be filtered out by the polarizer, and a part of the polarized light that undergoes diffuse reflection reaches the camera. The boundary of the polarized light emitted by the light source assembly is determined through the camera to determine the boundary line between the two different road surfaces. Moreover, due to the presence of the polarizer, strong light interference can be reduced and the line-tracking accuracy can be improved. In addition, since the transmission surface of the polarized light emitted by the light source assembly is a plane, line-tracking can be performed for the scenario where the boundary line between the two road surfaces is a curve, and the line-tracking is convenient, simple, and has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on the structures shown in these drawings.

[0028] Figure 1 It is a schematic structural diagram of an embodiment of the rubber compound laying vehicle of the present invention;

[0029] Figure 2 For Figure 1 It is a schematic structural diagram of an embodiment of the middle surface laser line-tracking device;

[0030] Figure 3 For Figure 1 It is a schematic structural diagram of another embodiment of the middle surface laser line-tracking device;

[0031] Figure 4 For Figure 1 It is a schematic structural diagram of yet another embodiment of the middle surface laser line-tracking device.

[0032] Explanation of the reference numerals in the drawings:

[0033] Label Name Label Name 100 Line inspection device 200 Rubber laying vehicle 1 Mounting seat 2 Light source assembly 21 Light passing hole 3 Camera 31 Camera body 32 Mounting cylinder 4 Polarizer 5 Mounting bracket 6 Light shield 7 Vehicle body

[0034] The realization, functional characteristics, and advantages of the object of the present invention will be further described with reference to the embodiments and the drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0037] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement it. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0038] The present invention provides a surface laser line-tracking device to solve the technical problem of low line-tracking accuracy of the line-tracking device.

[0039] In the embodiments of the present invention, as Figures 2 to 4 shown, the surface laser line-tracking device includes a mounting base 1, a light source assembly 2, a camera 3, and a polarizer 4. The light source assembly 2 and the camera 3 are both disposed on the mounting base 1. The light source assembly 2 is used to emit polarized light with a projection plane being a plane. The camera 3 is used to receive the reflected light of the polarized light emitted by the light source assembly 2. The polarizer 4 is disposed at the light receiving end of the camera 3. The polarization direction of the polarized light emitted by the light source assembly 2 is not parallel to the polarization direction of the polarizer 4.

[0040] In the technical solution of the present invention, both the light source assembly 2 and the camera 3 are arranged on the mounting base 1. The light source assembly 2 is used to emit polarized light with a plane projection surface, and the camera 3 is used to receive the reflected light of the polarized light emitted by the light source assembly 2. The polarizer 4 is arranged at the light receiving end of the camera 3. The polarization direction of the polarized light emitted by the light source assembly 2 is not parallel to the polarization direction of the polarizer 4. Therefore, when the polarized light emitted by the light source assembly 2 reaches two different road surfaces, a part of the polarized light will be reflected to the polarizer 4 in a specular reflection manner by one of the road surfaces, and the other part of the polarized light will be reflected to the polarizer 4 in a diffuse reflection manner by the other road surface. Since the polarization direction of the polarized light emitted by the light source assembly 2 is not parallel to the polarization direction of the polarizer 4, the polarized light emitted by the specular reflection will be filtered out by the polarizer 4, and a part of the polarized light that undergoes diffuse reflection passes through the polarizer 4 and reaches the camera 3. The boundary of the polarized light emitted by the light source assembly 2 is determined through the camera 3 to determine the boundary line between the two different road surfaces. Moreover, due to the presence of the polarizer 4, strong light interference can be reduced and the line tracking accuracy can be improved. Furthermore, since the projection surface of the polarized light emitted by the light source assembly 2 is a plane, line tracking can be performed for the scenario where the boundary line between the two road surfaces is a curve, and the line tracking is convenient, simple, and has high accuracy.

[0041] It can be understood that the projection surface of the polarized light emitted by the light source assembly 2 can be in shapes such as circular, square, elliptical, etc., and this embodiment does not limit this here.

[0042] In this embodiment, when assembling the polarizer 4, the polarizer 4 can be rotated to adjust the polarization direction of the polarizer 4 so that the polarization direction of the polarizer 4 is not parallel to the polarization direction of the polarized light emitted by the light source assembly 2, and then the polarizer 4 is fixed relative to the light source assembly 2. So that when the polarized light emitted by the light source assembly 2 is projected onto the road surface with specular reflection ability, specular reflection occurs, and the reflected light is filtered out by the polarizer 4, while the reflected light that undergoes diffuse reflection on the other road surface can partially pass through the polarization, and finally the boundary line between the two road surfaces is determined through the camera 3, thereby improving the line tracking accuracy.

[0043] In this embodiment, the projection surface of the polarized light emitted by the light source assembly 2 is a plane. Therefore, this embodiment is particularly applicable to the scenario where the interface between the two road surfaces is a curved surface. For example, in building construction, adhesives are often used, and the laid adhesives have the ability of specular reflection, while the road surface has the ability of diffuse reflection. Therefore, this embodiment is particularly applicable to the scenario where the interface between the adhesive laying surface and the road surface is a curve.

[0044] In this embodiment, the camera 3 can be a CCD camera 3. The surface laser line tracking device 100 can be installed on the adhesive laying vehicle 200 through the mounting base 1, or can be arranged on a robotic arm, or can also be arranged on other movable small vehicles, and this embodiment does not limit this here.

[0045] In one embodiment, the light source assembly 2 is a surface laser, which emits polarized light with a plane projection surface.

[0046] In another optional embodiment, the light source assembly 2 includes a light source body and a light source polarizer 4. The light source polarizer 4 is arranged at the light-emitting end of the light source body. The light source body is used to emit light with a planar projection surface, and the light source polarizer 4 is used to convert the light emitted by the light source body into polarized light.

[0047] In one embodiment, if Figure 2 and Figure 3 As shown, the camera 3 is located on the side of the surface laser away from its emitting end. The surface laser is in the shape of a ring to form a light hole 21 on the surface laser. The light receiving end of the camera 3 is arranged opposite to the light hole 21 to receive the reflected light in the light hole 21, so that the installation position of the camera 3 is more flexible to adapt to different application scenarios, and the installation area of the mounting base 1 can be reduced to reduce the volume of the surface laser line patrol device 100.

[0048] In this embodiment, the surface laser and the camera 3 can be arranged at intervals. In addition, when the camera 3 is located on the side of the surface laser away from the emitting end, the surface laser and the camera 3 can be located on the same side of the mounting base 1. The surface laser and the camera 3 can also be located on both sides of the mounting base 1 respectively. This embodiment is not limited here.

[0049] In one embodiment, if Figure 2 and Figure 4 As shown, the surface laser and the camera 3 are respectively arranged on both sides of the mounting base 1. A through hole is provided on the mounting base 1, which is connected to the light through hole 21 for the reflected light in the light through hole 21 to pass through. This can improve the stability of the surface laser and the camera 3 installed on the mounting base 1, and avoid the situation where the camera 3 and the surface laser are arranged on the same side of the mounting base 1, which causes the surface laser to be too far away from the mounting base 1 and reduces the stability of the surface laser on the mounting base 1.

[0050] In this embodiment, when the surface laser emits polarized light with a plane projection surface, the polarized light reaches the ground and is reflected by two different road surfaces on the ground to the light hole 21, then passes through the through hole on the mounting base 1 to reach the polarizer 4, and finally passes through the polarizer 4 to reach the camera 3.

[0051] In one embodiment, if Figure 1 and Figure 4As shown, the surface laser line patrol device 100 also includes a mounting bracket 5, which is arranged on the camera 3. The mounting bracket 5 is used to be installed on the rubber paving vehicle 200. Since the surface laser and the camera 3 are respectively arranged on both sides of the mounting base 1, the mounting bracket 5 is arranged on the camera 3. This can avoid increasing the surface area of the mounting base 1 so as to be installed on the rubber paving vehicle 200 through the mounting base 1. Instead, it can be directly installed on the rubber paving vehicle 200 through the mounting bracket 5, thereby reducing the volume of the surface laser line patrol device 100 and facilitating the installation of the surface laser line patrol device 100 on the rubber paving vehicle 200 through the mounting bracket 5.

[0052] In one embodiment, if Figure 2 As shown, the surface laser line patrol device 100 also includes a light shield 6, which is arranged on the mounting base 1, and the surface laser is arranged in the light shield 6. The polarized light emitted by the surface laser is emitted from the opening of the light shield 6. The camera 3 is arranged on the side of the mounting base 1 away from the light shield 6 to block natural light, especially sunlight, through the light shield 6, thereby reducing natural light from entering the camera 3 through the light hole 21, thereby reducing strong light interference and improving line patrol accuracy.

[0053] In one embodiment, if Figure 2 As shown, the opening of the light shield 6 gradually increases in the emission direction of the polarized light emitted by the surface laser, so that the polarized light emitted by the surface laser reaches the ground through the opening of the light shield 6, and after being reflected by two different road surfaces on the ground, reaches the camera 3 through the light hole 21, thereby preventing the opening of the light shield 6 from being too small, thereby preventing the polarized light emitted by the surface laser from entering the light hole 21 after being reflected on the ground.

[0054] In this embodiment, the opening size of the light shield 6 can be set according to the receiving angle of the camera 3, so that the opening size of the light shield 6 matches the receiving angle of the camera 3 to reduce the influence of the light shield 6 on the polarized light received by the camera 3 after being reflected on the ground.

[0055] In this embodiment, the opening of the light shield 6 is a square opening.

[0056] In one embodiment, if Figure 4 As shown, the camera 3 includes a camera body 31 and a mounting tube 32. The camera body 31 is used to receive the reflected light of the polarized light emitted by the light source assembly 2. The mounting tube 32 is arranged on the mounting seat 1. The light receiving end of the camera body 31 and the polarizer 4 are both arranged in the mounting tube 32, and the polarizer 4 is located at the light receiving end of the camera body 31, so that the polarizer 4 and the camera 3 can be installed together through the mounting tube 32. It has a simple structure and is easy to install.

[0057] In addition, if Figure 1As shown in the figure, an embodiment of the present invention further provides a rubber compound laying vehicle 200, which includes a vehicle body 7 and the surface laser line-tracking device 100 described in any of the above embodiments. The surface laser line-tracking device 100 is disposed on the vehicle body 7.

[0058] The rubber compound laying vehicle 200 proposed in the embodiment of the present invention includes a vehicle body 7 and a surface laser line-tracking device 100. The specific structure of the surface laser line-tracking device 100 refers to the above embodiments. Since the rubber compound laying vehicle 200 adopts all the technical solutions of the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments.

[0059] In this embodiment, when an installation bracket 5 is provided on the camera 3, the surface laser line-tracking device 100 can be installed on the vehicle body 7 through the installation bracket 5, or the surface laser line-tracking device 100 can be directly installed on the vehicle body 7 through the mounting seat 1. This embodiment does not make any limitation here.

[0060] In one embodiment, the surface laser line-tracking device 100 is detachably disposed on the vehicle body 7, and the installation position of the surface laser line-tracking device 100 on the vehicle body 7 is adjustable, so as to set the position of the surface laser line-tracking device 100 according to actual needs, thereby adjusting the line-tracking position of the surface laser line-tracking device 100 on the ground.

[0061] In one embodiment, the surface laser line-tracking device 100 is liftable relative to the vehicle body 7, so as to set the height of the surface laser line-tracking device 100 relative to the vehicle body 7 according to actual needs, thereby adjusting the height of the camera 3 and the surface laser emitter relative to the ground.

[0062] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made under the inventive concept of the present invention by using the content of the specification and drawings of the present invention, or any direct / indirect application in other related technical fields shall be included in the patent protection scope of the present invention.

Claims

1. A surface laser line-tracing device, characterized in that The surface laser line patrol device comprises: Mounting seat; A light source assembly, the light source assembly being disposed on the mounting seat and configured to emit polarized light with a plane projection surface, the light source assembly being a surface laser; a camera, the camera being disposed on the mounting base and being used to receive reflected light of the polarized light emitted by the light source assembly, the camera being located on a side of the surface laser away from its emitting end, the surface laser being annular in shape to form a light hole on the surface laser, and the light receiving end of the camera being disposed opposite to the light hole to receive reflected light within the light hole; a light shield, the light shield being disposed on the mounting base, the surface laser being disposed within the light shield, the polarized light emitted by the surface laser being emitted from an opening of the light shield, the camera being disposed on a side of the mounting base facing away from the light shield, the opening of the light shield gradually increasing in an emission direction of the polarized light emitted by the surface laser, so that the polarized light emitted by the surface laser passes through the opening of the light shield and reaches the ground, and after being reflected by two different road surfaces on the ground, passes through the light hole and reaches the camera; A polarizer is arranged at the light receiving end of the camera, and the polarization direction of the polarized light emitted by the light source assembly is not parallel to the vibration transmission direction of the polarizer.

2. The surface laser line-tracing device according to claim 1, wherein The surface laser and the camera are respectively arranged on two sides of the mounting base. The mounting base is provided with a through hole, which is connected with the light through hole to allow the reflected light in the light through hole to pass through.

3. The surface laser line-tracing device according to claim 2, wherein The surface laser line patrol device also includes: A mounting bracket is provided on the camera, and the mounting bracket is used for being installed on a rubber laying vehicle.

4. The surface laser line-tracing device according to claim 1, wherein The opening of the light shield gradually increases in an emitting direction of the polarized light emitted by the surface laser.

5. The surface laser line-tracing device according to claim 1, characterized in that, The camera includes: a camera body, the camera body being configured to receive reflected light of the polarized light emitted by the light source assembly; The mounting tube is arranged on the mounting seat, the light receiving end of the camera body and the polarizing plate are both arranged in the mounting tube, and the polarizing plate is located at the light receiving end of the camera body.

6. A rubber compound laying vehicle, characterized in that, The rubber laying vehicle comprises: The surface laser line patrol device according to any one of claims 1 to 5; The vehicle body is provided with the surface laser line patrol device.

7. The rubber compound laying vehicle according to claim 6, characterized in that, The surface laser line patrol device is detachably mounted on the vehicle body, and the mounting position of the surface laser line patrol device on the vehicle body is adjustable; or / and The surface laser line patrol device can be raised and lowered relative to the vehicle body.

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