Line laser line-tracking device and rubber compound laying vehicle

Abstract

The present invention discloses a line laser line-tracking device and a rubber material laying vehicle. The line laser line-tracking device includes a mounting seat, a laser emitter, a light receiver, and a polarizer. The laser emitter and the light receiver are both arranged on the mounting seat. The laser emitter is used for emitting linear laser light, and the light receiver is used for receiving the reflected light of the linear laser light emitted by the laser emitter and generating an image based on the received reflected light. The polarizer is arranged at the light receiving end of the light receiver. The polarizer in the technical solution of the present invention can filter out the linear laser light after specular reflection, while allowing part of the linearly diffused laser light to pass through the polarizer and reach the light receiver, so as to determine the intersection point between the received part and the non-received part of the linear laser light after reflection, thereby determining the boundary line between two road surfaces, reducing the influence of strong light interference, and improving the accuracy of laser line tracking.

Description

Technical Field

[0001] The present invention relates to the technical field of construction, and particularly to a line laser line-tracking device and a rubber compound laying vehicle. Background Art

[0002] A line-tracking device is a device that emits a light beam through a light source. After the light beam is reflected by the target ground, the boundary line between two different road conditions on the target ground is determined by analyzing the reflected light.

[0003] Currently, for the line-tracking devices on the market, the line-tracking method is to use a light source to emit a light beam. After the light beam reaches the ground and is reflected by the ground, a camera then receives the reflected light beam. Due to the different reflection capabilities of different road conditions for the light beam, the brightness of the light beam received by the camera is different. By processing and analyzing the brightness of the light beam received by the camera, the boundary line of the light beams with different brightnesses is obtained, and thus the boundary line between different road conditions is determined through the boundary line of the light beams with different brightnesses. However, this line-tracking device is easily interfered by strong light. Especially when line-tracking road conditions with specular reflection ability and diffuse reflection ability, due to the high brightness of the specularly reflected light, the boundary line between the two is blurred, resulting in a low line-tracking accuracy. Summary of the Invention

[0004] The main object of the present invention is to propose a line laser line-tracking device and a rubber compound laying vehicle, aiming to solve the technical problem of low line-tracking accuracy of the line-tracking device.

[0005] To achieve the above object, the line laser line-tracking device proposed by the present invention includes:

[0006] A mounting seat;

[0007] A laser emitter, which is arranged on the mounting seat and is used for emitting a linear laser;

[0008] A light receiver, which is arranged on the mounting seat and is used for receiving the reflected light of the linear laser emitted by the laser emitter and generating an image through the received reflected light;

[0009] A polarizer, which is arranged at the light receiving end of the light receiver.

[0010] Optionally, at least two laser emitters are provided.

[0011] Optionally, the laser emitter and the light receiver are arranged along the length direction of the mounting seat.

[0012] Optionally, the light receiver is arranged between two adjacent laser emitters.

[0013] Optionally, the linear lasers emitted by the laser emitters are parallel to each other.

[0014] Optionally, the line laser patrol device further includes:

[0015] A light shield is provided on the mounting seat, the transmitting end of the laser transmitter and the receiving end of the light receiver are both located in the light shield, and the linear laser emitted by the laser transmitter is emitted from the opening of the light shield.

[0016] Optionally, the outer peripheral surface of the laser emitter is provided with threads, the mounting seat is provided with threaded holes, and the laser emitter is threadedly connected to the mounting seat.

[0017] Optionally, the line laser patrol device further includes:

[0018] A limiting member is provided on the mounting seat and is arranged around the outer periphery of the laser emitter.

[0019] Optionally, the light receiver is a camera.

[0020] In addition, the present invention also provides a rubber paving vehicle, the rubber paving vehicle comprising:

[0021] A line laser patrol device as described in any of the above technical solutions;

[0022] The vehicle body is provided with a mounting base of the line laser patrol device.

[0023] The laser emitter and light receiver of the technical solution of the present invention are both arranged on a mounting base. The laser emitter is used to emit a linear laser and emit the linear laser toward the ground. The light receiver is used to receive the emitted light of the linear laser emitted by the laser and generate an image through the received reflected light, so as to determine the target detection through the image and detect the intersection of two different road surfaces on the ground, thereby achieving the purpose of linear laser line patrol. During the line patrol process, after the linear laser emitted by the laser emitter is reflected by the ground, the polarizer can filter out the linear laser after mirror reflection, and allow part of the diffusely reflected linear laser to reach the light receiver through the polarizer, so as to determine the intersection point between the received part and the unreceived part of the linear laser after reflection, thereby determining the boundary line between the two road surfaces. The linear laser has a large scanning area, which can increase the line patrol range. After adding the polarizer, the influence of strong light interference can be reduced, thereby improving the accuracy of laser line patrol. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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 drawings in the following description 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.

[0025] Figure 1 It is a schematic structural diagram of an embodiment of the rubber compound laying vehicle of the present invention;

[0026] Figure 2 For Figure 1 It is a schematic structural diagram of an embodiment of the center line laser line tracking device;

[0027] Figure 3 For Figure 1 It is a schematic structural diagram of another embodiment of the center line laser line tracking device;

[0028] Figure 4 For Figure 2 It is a sectional view of the center line laser line tracking device.

[0029] Explanation of the reference numerals in the drawings:

[0030] Label Name Label Name 100 Line patrol device 200 Rubber laying vehicle 1 Mounting seat 2 Laser emitter 3 Light receiver 4 Polarizer 5 Light shield 6 Limit piece 7 Bracket 8 Vehicle body

[0031] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the drawings. Specific embodiments

[0032] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0033] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) 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 drawings). If the specific posture changes, the directional indications will also change accordingly.

[0034] 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 number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] The present invention provides a line laser patrol device, which is used to solve the technical problem of low patrol accuracy of line patrol devices.

[0036] In the embodiment of the present invention, Figures 2 to 4 As shown, the line laser patrol device includes a mounting base 1, a laser emitter 2, a light receiver 3 and a polarizer 4. The laser emitter 2 and the light receiver 3 are both arranged on the mounting base 1. The laser emitter 2 is used to emit a linear laser. The light receiver 3 is used to receive the reflected light of the linear laser emitted by the laser emitter 2 and generate an image through the received reflected light. The polarizer 4 is arranged at the light receiving end of the light receiver 3.

[0037] The laser emitter 2 and the light receiver 3 of the technical solution of the present invention are both arranged on the mounting base 1. The laser emitter 2 is used to emit a linear laser and emit the linear laser toward the ground. The light receiver 3 is used to receive the emission light of the linear laser emitted by the laser and generate an image through the received reflected light, so as to determine the target detection through the image. The intersection line of two different road surfaces on the ground is achieved to achieve the purpose of linear laser line patrol. During the line patrol process, the linear laser emitted by the laser emitter 2 is reflected on the ground, and the polarizer 4 can filter out the linear laser after the mirror reflection, and allow part of the diffusely reflected linear laser to reach the light receiver 3 through the polarizer 4 to determine the intersection point between the received part and the unreceived part of the linear laser after reflection, thereby determining the boundary line between the two road surfaces. The linear laser has a large scanning area, which can increase the line patrol range. After adding the polarizer 4, the influence of strong light interference can be reduced, and the accuracy of laser line patrol can be improved.

[0038] In this embodiment, even when the polarization direction of the linear laser after ground reflection is the same as the transmission direction of the polarizer 4, resulting in the linear laser after specular reflection passing through the polarizer 4 and being received by the light receiver 3, and a part of the linearly diffused laser can also partially pass through the polarizer 4 and be received by the light receiver 3, another mode can also be adopted to determine the boundary line between two different road surfaces according to the different brightness of the light received by the light receiver 3. Similarly, due to the presence of the polarizer 4, the interference of strong light can also be reduced, improving the line-tracking accuracy.

[0039] It can be understood that when assembling the line laser line-tracking device 100 in this embodiment, the installation angle of the polarizer 4 can be adjusted so that the polarization direction of the linear laser emitted by the laser emitter 2 is not parallel to the transmission direction of the polarizer 4, so that part of the linear laser can be filtered by the linear polarizer 4 after specular reflection, and the linearly specularly reflected laser can pass through the polarizer 4 and be received by the light receiver 3. The endpoint of the image generated on the light receiver 3 is determined by the presence or absence of the linearly reflected laser received by the light receiver 3, and this endpoint is the boundary point between two different road surfaces. Then, when the line laser line-tracking device 100 moves, the boundary line is determined through this endpoint.

[0040] It can be understood that this embodiment is particularly applicable to determining the boundary line between a road surface with specular reflection ability and a road surface with diffuse reflection ability. For example, in construction, adhesives are often used, and the laid adhesives have specular reflection ability, while the road surface has diffuse reflection ability.

[0041] In this embodiment, as Figure 3 shown, when installing the laser emitter 2 and the light receiver 3, the laser emitter 2 and the light receiver 3 are arranged adjacent to each other so that the light receiver 3 can receive the reflected light emitted by the laser emitter 2 towards the ground and reflected by the ground.

[0042] In this embodiment, the line laser line-tracking device 100 can be installed on the adhesive laying vehicle 200 through the mounting base 1, or can be arranged on the robotic arm, or can also be arranged on other movable small vehicles. This embodiment is not limited here.

[0043] In one embodiment, as Figure 2 and Figure 4 shown, a bracket 7 is provided on the light receiver 3, and the polarizer 4 is arranged on the bracket 7 so that the polarizer 4 is located at the light receiving end of the light receiver 3, and the polarizer 4 is used to selectively filter the linearly reflected laser.

[0044] In this embodiment, the polarizer 4 is rotatably arranged on the bracket 7 to adjust the transmission direction of the polarizer 4 when installing the polarizer 4.

[0045] In one embodiment, if Figure 2 As shown, at least two laser emitters 2 are provided, so as to determine an intersection point between two different road surfaces by the linear laser emitted by each laser emitter 2, and then form an intersection line through at least two of the intersection points. The intersection line is the intersection line between the two different road surfaces. Specifically, this embodiment is particularly suitable for the scenario where the intersection line between two different road surfaces is a straight line.

[0046] In this embodiment, when the boundary line between two different road surfaces is a straight line, since a straight line can be determined between two points, at least two laser emitters 2 are provided to determine the boundary line between the two different road surfaces.

[0047] In one embodiment, if Figure 3 As shown, the laser emitter 2 and the light receiver 3 are arranged along the length direction of the mounting base 1. The laser emitter 2 and the light receiver 3 can be reasonably arranged according to the shape of the mounting base 1, thereby improving the compactness of the line laser device and reducing the volume of the line laser device.

[0048] In one embodiment, if Figure 3 As shown, the light receiver 3 is arranged between two adjacent laser emitters 2. On the basis that the light receiver 3 can receive the reflected light of the linear laser emitted by the laser emitter 2, the rationality of the installation position of the light receiver 3 and the laser emitter 2 is improved, and the line patrol accuracy is further improved.

[0049] In one embodiment, the linear lasers emitted by the laser emitters 2 are parallel to each other to avoid the linear lasers intersecting and affecting the determination of the boundary line.

[0050] In one embodiment, if Figure 2 As shown, the line laser patrol device 100 also includes a light shield 5, which is arranged on the mounting base 1, and the emitting end of the laser emitter 2 and the receiving end of the light receiver 3 are both located in the light shield 5. The linear laser emitted by the laser emitter 2 is emitted from the opening of the light shield 5, so that the linear laser emitted by the laser emitter 2 can reach the ground through the opening of the light shield 5. After being reflected on the ground, the linear laser can reach the polarizer 4 through the opening of the light shield 5. At the same time, the natural light can be blocked by the light shield 5, reducing the amount of natural light entering the light receiver 3 from the polarizer 4, thereby reducing the influence of natural light on line patrol.

[0051] In one embodiment, if Figure 2 As shown, the opening of the light shield 5 gradually increases in the emission direction of the linear laser emitted by the laser transmitter 2, so that the linear laser can pass through the polarizer 4 from the opening of the light shield 5 after being reflected on the ground, and thus be received by the light receiver 3, thereby reducing the influence of the light shield 5 on the reflected light received by the light receiver 3.

[0052] In this embodiment, the opening size of the light shield 5 is set according to the receiving angle of view of the light receiver 3, so that the opening size of the light shield 5 matches the receiving angle of view of the light receiver 3, so as to reduce the influence of the light shield 5 on the light of the linear laser received by the light receiver 3 after being reflected on the ground.

[0053] In this embodiment, the opening of the light shield 5 is a square opening.

[0054] In one embodiment, if Figure 2 As shown, the outer surface of the laser emitter 2 is provided with a thread, and the mounting base 1 is provided with a threaded hole. The laser emitter 2 is threadedly connected to the mounting base 1 to facilitate the installation of the laser emitter 2, improve the assembly efficiency of the line laser patrol device 100, and also facilitate the replacement of the laser emitter 2. It can also simplify the structure and reduce the volume of the line laser patrol device 100.

[0055] In one embodiment, if Figure 2 and Figure 4 As shown, the line laser patrol device 100 also includes a limiter 6, which is arranged on the mounting seat 1, and the limiter 6 is arranged around the outer periphery of the laser emitter 2, so that the inner wall of the limiter 6 abuts against the outer peripheral surface of the laser emitter 2, thereby limiting the shaking of the laser emitter 2 and avoiding the shaking of the laser emitter 2 during the movement of the line laser patrol device 100, resulting in low line patrol accuracy.

[0056] In this embodiment, the limiting member 6 is disposed on a side of the mounting base 1 facing away from the light shield 5 .

[0057] In one embodiment, the light receiver 3 is a camera. Specifically, the camera may be a CCD camera.

[0058] In addition, if Figure 1 As shown, an embodiment of the present invention further provides a rubber paving vehicle 200 , which includes a vehicle body 8 and the line laser patrol device 100 described in any of the above embodiments, and a mounting base 1 of the line laser patrol device 100 is provided on the vehicle body 8 .

[0059] The rubber paving vehicle 200 proposed in the embodiment of the present invention includes a vehicle body 8 and a line laser patrol device 100. The specific structure of the line laser patrol device 100 refers to the above embodiment. Since the rubber paving adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments.

[0060] In this embodiment, the installation position of the mounting base 1 on the vehicle body 8 is adjustable so as to set the line laser patrol device 100 according to actual needs.

[0061] In this embodiment, the height of the mounting base 1 relative to the vehicle body 8 can be raised or lowered.

[0062] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. 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, is included in the patent protection scope of the present invention.

Claims

1. A line laser patrol device, characterized in that: The line laser patrol device comprises: Mounting seat; A laser emitter, the laser emitter being disposed on the mounting seat and configured to emit linear laser light. At least two laser emitters are provided, and the linear laser light emitted by the laser emitters is parallel to each other. A light receiver, disposed between two adjacent laser emitters on the mounting seat, for receiving reflected light from the linear laser emitted by the laser emitter and generating an image through the received reflected light. The laser emitter and the light receiver are disposed along the length of the mounting seat and are arranged according to the shape of the mounting seat. a polarizer, the polarizer being disposed at the light receiving end of the light receiver, wherein the polarization direction of the linear laser emitted by the laser emitter is not parallel to the transmission direction of the polarizer; A light shield is provided on the mounting seat, the emitting end of the laser emitter and the receiving end of the light receiver are both located inside the light shield, the linear laser emitted by the laser emitter is emitted from the opening of the light shield, the outer peripheral surface of the laser emitter is provided with a thread, the mounting seat is provided with a threaded hole, and the laser emitter is threadedly connected to the mounting seat.

2. The line laser patrol device according to claim 1, characterized in that: The line laser patrol device also includes: A limiting member is provided on the mounting seat and is arranged around the outer periphery of the laser emitter.

3. The line laser patrol device according to any one of claims 1 to 2, characterized in that: The light receiver is a camera.

4. A rubber laying vehicle, characterized in that: The rubber laying vehicle comprises: The line laser patrol device according to any one of claims 1 to 3; The vehicle body is provided with a mounting base of the line laser patrol device.

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