An obstacle detection device based on laser point cloud data

Abstract

The present invention discloses an obstacle detection device based on laser point cloud data, and relates to the technical field of obstacle detection devices. It comprises a device bottom plate, wherein the center position of the device bottom plate is set as a positioning component, the positioning component is provided with an antenna base, and the antenna base is provided with a detection antenna; the side end surface of the device bottom plate is provided with a protective component, and the stability of the detection antenna during operation is ensured by the protective component; the device bottom plate is provided with an auxiliary component, and the auxiliary component is used to improve the stability of the antenna base on the device bottom plate, and the positioning component comprises a motor fixedly mounted on the device bottom plate, and a rotating disk is fixedly mounted on the output end of the motor. The invention enables the device to provide a reliable and accurate antenna detection function in an environment subjected to external impact through the cooperation of the positioning component, the protective component and the auxiliary component, thereby effectively improving the stability and accuracy of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of obstacle detection devices, and in particular to an obstacle detection device based on laser point cloud data. Background Art

[0002] The detection device uses a specified method to test the specified technical performance indicators of an object. It is suitable for quality assessment in various industries, such as civil engineering, water conservancy, food, chemistry, environment, machinery, machines, etc. The detection device detects the actual displacement of the actuator by direct or indirect measurement, and the obstacle detection device is a device for detecting obstacles on the road.

[0003] In the prior art, a Chinese patent with publication number "CN208026297U" discloses an obstacle detection device based on laser point cloud data, with a fixed screw body, and the fixed screw bodies are evenly distributed at the four corners of the upper end of the bottom plate of the device, so that the bottom plate of the device is stably fixed so that it will not affect the accuracy of the detection. When it needs to be disassembled for maintenance, a button can be pressed to make the side port correspond to the fixed body, so that the fixed body can be put into the docking body through the moving port, and then the docking body can be taken out from the fixed port, and then the fixed block can be taken out, and the cover plate can be removed for maintenance, which solves the problem that the existing obstacle detection device is inconvenient to repair when a failure occurs.

[0004] In the above scheme, the docking body is smaller in size than the base plate of the device, and the range in which the fixed body can move within the docking body is smaller, so that the exposed portion of the fixed body is shorter, making it difficult to ensure effective installation stability and prone to slippage. Especially when the base plate of the device is hit by external force, it is easy to cause it to fall off directly, seriously affecting the detection effect of the device. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an obstacle detection device based on laser point cloud data, which solves the problems mentioned in the above background technology.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: A device for detecting obstacles based on laser point cloud data, comprising a device bottom plate, a positioning component is arranged at the exact center of the device bottom plate, an antenna base is arranged on the positioning component, and a detection antenna is arranged on the antenna base; A protective component is provided on the side end surface of the bottom plate of the device, and the stability of the detection antenna during operation is ensured by the protective component; The device bottom plate is provided with an auxiliary component, which is used to improve the stability of the antenna base on the device bottom plate.

[0007] Preferably, the positioning assembly includes a motor fixedly mounted on the bottom plate of the device, a rotating disk fixedly mounted on the output end of the motor, four arc-shaped protrusions fixedly mounted on the side end surface of the rotating disk, four corner movable grooves are opened on the bottom plate of the device, four movable blocks are slidably mounted inside the four corner movable grooves, clamping plates are fixedly mounted on the upper end surfaces of the four movable blocks, a pressure protrusion is fixedly mounted on the inner side surface of the movable block, and a return spring is fixedly connected to the outer side surface of the movable block.

[0008] Preferably, one end of the return spring away from the moving block is fixedly connected to the inside of the four-corner moving grooves, the position of the rotating disk is inside the four-corner moving grooves, the arc-shaped protrusion is in sliding contact with the pressure protrusion, and the position of the antenna base is fixed by the four clamping plates.

[0009] Preferably, the protective component includes four limiting cavities and a buffer plate, a pushing block is slidably installed inside the limiting cavity, a pushing rod is fixedly installed on the pushing block, an arc groove is opened on the inner side of the buffer plate, an arc frame is slidably connected inside the arc groove, a mounting ring is fixedly installed on the push rod, and a buffer spring is fixedly connected to the mounting ring.

[0010] Preferably, the side end surface of the buffer plate is provided with symmetrically arranged mounting grooves, a rotating rod is rotatably installed inside the mounting groove, the side end surface of the device bottom plate is provided with an outer arc groove, a mounting shaft is fixedly installed on the side end surface of the rotating rod, the rotating rod is movably installed inside the outer arc groove through the mounting shaft, and a compression spring is fixedly connected to the rotating rod.

[0011] Preferably, the four limiting cavities are evenly distributed inside the bottom plate of the device, one end of the pushing rod away from the pushing block extends to the outside of the bottom plate of the device and is rotatably connected to the arc frame, and one end of the compression spring away from the rotating rod is fixedly connected to the buffer plate.

[0012] Preferably, the auxiliary component includes an extrusion airbag arranged inside the limiting cavity, the extrusion airbag is fixedly connected to a connecting tube, the connecting tube is fixedly connected to a hose at one end away from the extrusion airbag, the hose is fixedly connected to a connecting tube at one end away from the extrusion airbag, and a storage groove is provided on the inner side surface of the clamping plate, and a fitting airbag is fixedly arranged inside the storage groove.

[0013] Preferably, one end of the connecting tube away from the extrusion airbag extends to the outside of the device bottom plate, and one end of the connecting tube away from the hose extends to the inside of the storage groove and is fixedly connected to the fitting airbag.

[0014] Preferably, a plurality of mounting frames are fixedly mounted on the bottom plate of the device, a rotating shaft is rotatably mounted on the mounting frame, a pressing plate and an auxiliary gear are fixedly mounted on the rotating shaft, a connecting block is fixedly mounted on the side end surface of the pushing block, and a Z-shaped tooth plate is fixedly mounted on the connecting block.

[0015] Preferably, the auxiliary gear is located outside the pressing plate, a limiting slide groove is provided on the bottom plate of the device, the connecting block, the Z-shaped tooth plate and the limiting slide groove are slidably connected, and the Z-shaped tooth plate is meshed with the auxiliary gear.

[0016] The present invention provides an obstacle detection device based on laser point cloud data. Compared with the prior art, it has the following beneficial effects: 1. The present invention places the antenna base equipped with the detection antenna between four clamping plates, drives the rotating disk to rotate by a motor, and utilizes the cooperation between the arc-shaped protrusions on the rotating disk and the pressed protrusions on the moving block. The clamping plates can fix the position of the antenna base through the limiting of the four-corner moving grooves, effectively ensuring the stability of the antenna base on the device chassis. At the same time, it is very convenient to dismantle the antenna base, which greatly improves the practicality of the device. 2. In the present invention, when the bottom plate of the device is impacted by an object, the buffer plate will offset the first wave of impact force through the cooperation of the arc frame and the push rod and the action of the buffer spring. When the buffer plate moves inward, the rotating rod on the buffer plate will expand outward through the limit of the installation shaft and the outer arc groove. The compression spring between the rotating rod and the buffer plate offsets the remaining impact force. By offsetting the decreasing impact force, the device is effectively prevented from affecting the normal operation of the detection antenna when it is impacted. 3. In the present invention, when the push rod moves inward, it drives the push block to move in the limiting cavity, the extrusion airbag in the limiting cavity is squeezed by the push block, and the gas in the extrusion airbag enters the fitting airbag through the connecting pipe, the hose and the connecting pipe. The expansion of the fitting airbag improves the stability of the antenna base inside the clamping plate, thereby further improving the detection effect of the device; 4. In the present invention, when the pushing block moves, it will synchronously drive the connecting block to slide in the limiting groove, and the Z-shaped tooth plate on the connecting block will move horizontally through the limitation of the limiting groove. Then, through the cooperation of the Z-shaped tooth plate and the auxiliary gear, the auxiliary gear will drive the pressing plate through the rotating shaft to clamp and fix the antenna base when rotating, thereby effectively enhancing the stability of the antenna base on the bottom plate of the device and the detection effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ; Figure 2The overall structure of the present invention is shown in FIG. Figure 2 ; Figure 3 is a side sectional view of the present invention; Figure 4 for Figure 3 The enlarged view of point A in the middle; Figure 5 is a cross-sectional view of the bottom plate of the device in the present invention; Figure 6 It is a schematic diagram of the structure of the protection component in the present invention; Figure 7 It is a structural schematic diagram of the moving block in the present invention; Figure 8 It is a schematic diagram of the structure of the auxiliary components in the present invention; Fig. 9 It is a partial cross-sectional view of the bottom plate of the device in the present invention.

[0018] In the figure: 1. device bottom plate; 2. antenna base; 3. detection antenna; 4. motor; 5. rotating disk; 6. arc-shaped protrusion; 7. four-corner moving groove; 8. moving block; 9. clamping plate; 10. pressure-bearing protrusion; 11. reset spring; 12. limit cavity; 13. buffer plate; 14. push block; 15. push rod; 16. arc-shaped groove; 17. arc frame; 18. mounting ring; 19. buffer spring; 20. mounting groove; 21. rotating rod; 22. outer arc groove; 23. mounting shaft; 24. pressure spring; 25. extrusion airbag; 26. connecting pipe; 27. hose; 28. connecting pipe; 29. ​​storage groove; 30. fitting airbag; 31. mounting frame plate; 32. rotating shaft; 33. pressing plate; 34. auxiliary gear; 35. connecting block; 36. Z-shaped tooth plate; 37. limit slide groove. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-9The present invention is a device for detecting obstacles based on laser point cloud data, comprising a device bottom plate 1, a positioning assembly is arranged at the exact center of the device bottom plate 1, an antenna base 2 is arranged on the positioning assembly, a detection antenna 3 is arranged on the antenna base 2, the positioning assembly comprises a motor 4 fixedly mounted on the device bottom plate 1, a rotating disk 5 is fixedly mounted on the output end of the motor 4, four arc-shaped protrusions 6 are fixedly mounted on the side end surface of the rotating disk 5, four corner moving grooves 7 are opened on the device bottom plate 1, four moving blocks 8 are slidably mounted inside the four corner moving grooves 7, the upper end surfaces of the four moving blocks 8 are fixedly mounted with clamping plates 9, and the inner side surfaces of the moving blocks 8 are fixedly mounted with The outer side surface of the compressed protrusion 10 and the moving block 8 is fixedly connected with a return spring 11, and the end of the return spring 11 away from the moving block 8 is fixedly connected to the inside of the four-corner moving groove 7, the position of the rotating disk 5 is inside the four-corner moving groove 7, the arc-shaped protrusion 6 is in sliding contact with the compressed protrusion 10, and the position of the antenna base 2 is fixed by four clamping plates 9, wherein the elastic force of the return spring 11 can make the compressed protrusion 10 on the moving block 8 tightly attached to the rotating disk 5 and the arc-shaped protrusion 6, wherein the friction between the compressed protrusion 10 and the rotating disk 5 and the arc-shaped protrusion 6 is small, ensuring that the rotating disk 5 can squeeze the compressed protrusion 10 using the arc-shaped protrusion 6.

[0021] In this article, the antenna base 2 equipped with the detection antenna 3 is placed between four clamping plates 9, and the rotating disk 5 is driven to rotate by the motor 4. By utilizing the cooperation between the arc-shaped protrusion 6 on the rotating disk 5 and the compressed protrusion 10 on the moving block 8, the clamping plate 9 will limit the position of the antenna base 2 through the four-corner moving grooves 7, effectively ensuring the stability of the antenna base 2 on the chassis of the device. At the same time, it is extremely convenient to disassemble the antenna base 2, which greatly improves the practicality of the device.

[0022] The side end surface of the device bottom plate 1 is provided with a protective component, and the stability of the detection antenna 3 during operation is ensured by the protective component. The protective component includes four limit cavities 12 and a buffer plate 13. A push block 14 is slidably installed inside the limit cavity 12, and a push rod 15 is fixedly installed on the push block 14. An arc groove 16 is provided on the inner side surface of the buffer plate 13, and an arc frame 17 is slidably connected inside the arc groove 16. A mounting ring 18 is fixedly installed on the push rod 15, and a buffer spring 19 is fixedly connected to the mounting ring 18. A symmetrically arranged mounting groove 20 is provided on the side end surface of the buffer plate 13, and a rotating rod 21 is rotatably installed inside the mounting groove 20. The device bottom plate 1 An outer arc groove 22 is provided on the side end surface, and a mounting shaft 23 is fixedly installed on the side end surface of the rotating rod 21. The rotating rod 21 is movably installed inside the outer arc groove 22 through the mounting shaft 23. A compression spring 24 is fixedly connected to the rotating rod 21. Four limit cavities 12 are evenly distributed inside the device base plate 1. One end of the push rod 15 away from the push block 14 extends to the outside of the device base plate 1 and is rotatably connected to the arc frame 17. One end of the compression spring 24 away from the rotating rod 21 is fixedly connected to the buffer plate 13, wherein the rotating rod 21 is in a sliding state in the outer arc groove 22 by means of the mounting shaft 23, ensuring that the rotating rod 21 can rotate inward or outward.

[0023] In this article, when the base plate 1 of the device is impacted by an object, the buffer plate 13 will complete the first wave of offsetting the impact force through the cooperation of the arc frame 17 and the push rod 15, as well as the action of the buffer spring 19. When the buffer plate 13 moves inward, the rotating rod 21 on the buffer plate 13 will expand outward through the limitation of the mounting shaft 23 and the outer arc groove 22. The compression spring 24 between the rotating rod 21 and the buffer plate 13 completes the offsetting of the remaining impact force. By offsetting the decreasing impact force, the device can effectively avoid affecting the normal operation of the detection antenna 3 when it is impacted.

[0024] An auxiliary component is provided on the device base plate 1, which is used to improve the stability of the antenna base 2 on the device base plate 1. The auxiliary component includes an extrusion airbag 25 arranged inside the limiting cavity 12, and a connecting tube 26 is fixedly connected to the extrusion airbag 25. The end of the connecting tube 26 away from the extrusion airbag 25 is fixedly connected to a hose 27, and the end of the hose 27 away from the extrusion airbag 25 is fixedly connected to a connecting tube 28. A storage groove 29 is provided on the inner side surface of the clamping plate 9, and a fitting airbag 30 is fixedly provided inside the storage groove 29. The end of the connecting tube 26 away from the extrusion airbag 25 extends to the outside of the device base plate 1, and the end of the connecting tube 28 away from the hose 27 extends to the inside of the storage groove 29, and is fixedly connected to the fitting airbag 30, wherein the hose 27 is used to ensure that the gas delivery is not affected during the movement of the clamping plate 9.

[0025] In this article, when the pushing rod 15 moves inward, it will drive the pushing block 14 to move in the limiting cavity 12, and the extrusion airbag 25 in the limiting cavity 12 will be squeezed by the pushing block 14. The gas in the extrusion airbag 25 will enter the fitting airbag 30 through the connecting tube 26, the hose 27 and the connecting tube 28. The expansion of the fitting airbag 30 will improve the stability of the antenna base 2 inside the clamping plate 9, thereby further improving the detection effect of the device.

[0026] A plurality of mounting plates 31 are fixedly mounted on the device base plate 1, a rotating shaft 32 is rotatably mounted on the mounting plate 31, a pressing plate 33 and an auxiliary gear 34 are fixedly mounted on the rotating shaft 32, a connecting block 35 is fixedly mounted on the side end face of the pushing block 14, a Z-shaped tooth plate 36 is fixedly mounted on the connecting block 35, the auxiliary gear 34 is located on the outside of the pressing plate 33, a limiting slide groove 37 is provided on the device base plate 1, the connecting block 35 and the Z-shaped tooth plate 36 are slidably connected with the limiting slide groove 37, the Z-shaped tooth plate 36 is meshed with the auxiliary gear 34, wherein the end of the pressing plate 33 is set to an arc surface to ensure that the pressing plate 33 can fit the side surface of the antenna base 2.

[0027] In this article, when the pushing block 14 moves, it will synchronously drive the connecting block 35 to slide in the limiting groove 37, and the Z-shaped tooth plate 36 on the connecting block 35 will move horizontally through the limitation of the limiting groove 37, and then through the cooperation between the Z-shaped tooth plate 36 and the auxiliary gear 34, the auxiliary gear 34 will drive the pressing plate 33 through the rotating shaft 32 to clamp and fix the antenna base 2 when rotating, effectively enhancing the stability of the antenna base 2 on the device bottom plate 1 and the detection effect.

[0028] Working principle: When in use, the antenna base 2 equipped with the detection antenna 3 is placed between the four clamping plates 9, and the rotating disk 5 is driven to rotate by the motor 4. By utilizing the cooperation between the arc-shaped protrusions 6 on the rotating disk 5 and the pressed protrusions 10 on the moving block 8, the clamping plates 9 will pass through the limit of the four-corner moving grooves 7 to complete the position fixation of the antenna base 2, effectively ensuring the stability of the antenna base 2 on the device chassis, and at the same time, it is extremely convenient to dismantle the antenna base; When the bottom plate 1 of the device is impacted by an object, the buffer plate 13 will offset the first wave of impact force through the cooperation of the arc frame 17 and the push rod 15, and the action of the buffer spring 19. When the buffer plate 13 moves inward, the rotating rod 21 on the buffer plate 13 will expand outward through the limit of the mounting shaft 23 and the outer arc groove 22. The compression spring 24 between the rotating rod 21 and the buffer plate 13 offsets the remaining impact force. By offsetting the decreasing impact force, the device is effectively prevented from affecting the normal operation of the detection antenna 3 when it is impacted. When the push rod 15 moves inward, it drives the push block 14 to move in the limiting cavity 12, and the extrusion airbag 25 in the limiting cavity 12 is squeezed by the push block 14. The gas in the extrusion airbag 25 enters the fitting airbag 30 through the connecting pipe 26, the hose 27 and the connecting pipe 28. The expansion of the fitting airbag 30 improves the stability of the antenna base 2 inside the clamping plate 9. When the pushing block 14 moves, it will synchronously drive the connecting block 35 to slide in the limiting groove 37. The Z-shaped tooth plate 36 on the connecting block 35 will move horizontally through the limitation of the limiting groove 37. Then, through the cooperation between the Z-shaped tooth plate 36 and the auxiliary gear 34, the auxiliary gear 34 will drive the pressing plate 33 through the rotating shaft 32 to clamp and fix the antenna base 2 when rotating.

Claims

1. A device for detecting obstacles based on laser point cloud data, comprising a device base plate (1), characterized in that: The center position of the device bottom plate (1) is set as a positioning component, the positioning component is provided with an antenna base (2), and the antenna base (2) is provided with a detection antenna (3); A protective component is provided on the side end surface of the device bottom plate (1), and the protective component ensures the stability of the detection antenna (3) during operation; An auxiliary component is provided on the device bottom plate (1), and the auxiliary component is used to improve the stability of the antenna base (2) on the device bottom plate (1).

2. The obstacle detection device based on laser point cloud data according to claim 1, characterized in that: The positioning assembly comprises a motor (4) fixedly mounted on a device base plate (1); a rotating disk (5) is fixedly mounted on an output end of the motor (4); four arc-shaped protrusions (6) are fixedly mounted on the side end surface of the rotating disk (5); four corner movable grooves (7) are opened on the device base plate (1); four movable blocks (8) are slidably mounted inside the four corner movable grooves (7); a clamping plate (9) is fixedly mounted on the upper end surfaces of the four movable blocks (8); a pressure-bearing protrusion (10) is fixedly mounted on the inner side surface of the movable block (8); and a return spring (11) is fixedly connected to the outer side surface of the movable block (8).

3. The obstacle detection device based on laser point cloud data according to claim 2, characterized in that: One end of the return spring (11) away from the moving block (8) is fixedly connected to the inside of the four-corner moving groove (7), the rotating disk (5) is located inside the four-corner moving groove (7), the arc-shaped protrusion (6) is in sliding contact with the pressure-bearing protrusion (10), and the position of the antenna base (2) is fixed by the four clamping plates (9).

4. The obstacle detection device based on laser point cloud data according to claim 2, characterized in that: The protection component comprises four limiting cavities (12) and a buffer plate (13); a push block (14) is slidably mounted inside the limiting cavity (12); a push rod (15) is fixedly mounted on the push block (14); an arc groove (16) is formed on the inner side surface of the buffer plate (13); an arc frame (17) is slidably connected inside the arc groove (16); a mounting ring (18) is fixedly mounted on the push rod (15); and a buffer spring (19) is fixedly connected to the mounting ring (18).

5. The obstacle detection device based on laser point cloud data according to claim 4, characterized in that: The side end surface of the buffer plate (13) is provided with symmetrically arranged mounting grooves (20), a rotating rod (21) is rotatably mounted inside the mounting groove (20), the side end surface of the device bottom plate (1) is provided with an outer arc groove (22), a mounting shaft (23) is fixedly mounted on the side end surface of the rotating rod (21), the rotating rod (21) is movably mounted inside the outer arc groove (22) via the mounting shaft (23), and a compression spring (24) is fixedly connected to the rotating rod (21).

6. The obstacle detection device based on laser point cloud data according to claim 5, characterized in that: The four limiting cavities (12) are evenly distributed inside the device bottom plate (1); one end of the pushing rod (15) away from the pushing block (14) extends to the outside of the device bottom plate (1) and is rotatably connected to the arc frame (17); and one end of the compressed spring (24) away from the rotating rod (21) is fixedly connected to the buffer plate (13).

7. The obstacle detection device based on laser point cloud data according to claim 5, characterized in that: The auxiliary component comprises an extrusion airbag (25) arranged inside the limiting cavity (12); a connecting tube (26) is fixedly connected to the extrusion airbag (25); an end of the connecting tube (26) away from the extrusion airbag (25) is fixedly connected to a hose (27); an end of the hose (27) away from the extrusion airbag (25) is fixedly connected to a connecting tube (28); a receiving groove (29) is provided on the inner side surface of the clamping plate (9); a fitting airbag (30) is fixedly arranged inside the receiving groove (29).

8. The obstacle detection device based on laser point cloud data according to claim 7, characterized in that: One end of the connecting tube (26) away from the extrusion airbag (25) extends to the outside of the device bottom plate (1), and one end of the connecting tube (28) away from the hose (27) extends to the inside of the storage groove (29) and is fixedly connected to the fitting airbag (30).

9. The obstacle detection device based on laser point cloud data according to claim 4, characterized in that: A plurality of mounting frames (31) are fixedly mounted on the device bottom plate (1); a rotating shaft (32) is rotatably mounted on the mounting frame plate (31); a pressing plate (33) and an auxiliary gear (34) are fixedly mounted on the rotating shaft (32); a connecting block (35) is fixedly mounted on the side end surface of the pushing block (14); and a Z-shaped toothed plate (36) is fixedly mounted on the connecting block (35).

10. The obstacle detection device based on laser point cloud data according to claim 9, characterized in that: The auxiliary gear (34) is located outside the pressing plate (33); a limiting slide groove (37) is provided on the device bottom plate (1); the connecting block (35) and the Z-shaped tooth plate (36) are slidably connected to the limiting slide groove (37); and the Z-shaped tooth plate (36) is meshed with the auxiliary gear (34).

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