Reflection device for laser radar test
By designing a quick change tool disc and floating mechanism that combines the reflector with the robot gripper, the automatic installation and stable placement of the reflector in lidar test is solved, and the rapid replacement of the reflector and the improvement of the test efficiency is achieved.
Patent Information
- Application Number
- CN202422199110.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-06
- Publication Date
- 2025-07-11
- Estimated Expiration
- 2034-09-06
AI Technical Summary
In batch testing of lidar, the adjustment and storage of the reflector are inconvenient, resulting in cumbersome operation and easy damage, making it difficult for the prior art to efficiently achieve automation and stability.
A reflective device including a reflector plate, a reflector plate, an adapter plate, a connecting column and a quick change tool disc is designed. Combined with a robot gripper and a floating mechanism, the reflector plate can be quickly replaced and stablely placed, and the automatic installation and movement of the reflector plate is achieved through the docking of the quick change tool disc and the quick change master disc.
The placement and movement of reflectors is simplified, the degree of automation of lidar testing is improved, the risk of equipment damage is reduced, and the testing efficiency and stability are improved.
Smart Images
Figure CN223092138U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of lidar testing, and particularly relates to a reflecting device for lidar testing. Background Art
[0002] Lidar (Li DAR) is a sensor technology that measures distance and obtains target information by emitting laser beams.
[0003] Its working principle is to emit laser pulses towards the target object, and then measure the time from the emission of the laser pulse to its reflection back by the target. By calculating this time, the distance to the target can be determined. At the same time, by measuring multiple points, the three-dimensional shape and position information of the target object can be constructed.
[0004] After the lidar is produced, it is necessary to test the accuracy of the lidar to determine the measurement error of the lidar. However, the conditions for this test are relatively complex. Currently, when batch testing lidars, it is necessary to frequently adjust the position of the reflector, and after the adjustment is completed, it is installed and fixed. However, after the lidar emits laser light, different reflectors are required for different distances, resulting in troublesome adjustment of the reflector and difficult storage. The traditional storage method is to place it in a storage box, and it is necessary to manually extract the reflector and then use a robot to grasp it, resulting in troublesome movement of the reflector. Summary of the Utility Model
[0005] The utility model provides a reflecting device for lidar testing, which is convenient for placing and moving the reflector and facilitates lidar testing.
[0006] To achieve the above object, the utility model provides the following technical solutions:
[0007] A reflecting device for lidar testing includes a reflector and a reflector placement seat. The reflector is installed on a reflector frame. A transfer plate is installed at the middle of the rear end of the reflector frame. A connecting column is installed at the middle of the transfer plate. A hollow connecting cylinder one is installed below the connecting column. A quick-change tool disk is installed at the front end of the connecting column. A quick-change main disk corresponding to the quick-change tool disk is installed at the gripper of the robot. A connecting cylinder two is installed at the top of the reflector placement seat, and the front end of the connecting cylinder two is located inside the connecting cylinder one.
[0008] Preferably, a buffer block one is installed on one side of the reflector placement seat. An inclined surface one is provided on the side of the buffer block one away from the reflector placement seat. A buffer block two is installed at the corresponding position of the transfer plate and the buffer block one. The buffer block two is provided with an inclined surface two corresponding to the inclined surface one.
[0009] Preferably, a plurality of induction sheets are further installed at the lower end of the adapter plate. The induction sheets are located at the lower end of the second buffer block. A sensor mounting plate is installed on one side of the reflector placement seat, and a plurality of sensors corresponding to the induction sheets are installed on the sensor mounting plate.
[0010] Preferably, a floating mechanism is further included. The floating mechanism includes a support disk, a floating block, and a floating cover. The support disk is installed on the top of the reflector placement seat. A protection cylinder is installed at the lower end of the support disk. A cylinder is installed at the bottom of the protection cylinder. A push cone is installed at the output end of the cylinder. A tapered hole is provided at the bottom of the floating block. The top of the push cone corresponds to the tapered hole. The floating cover is connected to the top of the floating block. The upper end of the floating block passes through the middle of the support disk. The bottom of the connecting cylinder two is connected to the middle of the top of the floating block. A thrust bearing is installed between the outer side of the upper end of the floating block and the support disk and the floating cover. A thrust bearing is installed on the outer side of the lower end of the floating block.
[0011] Preferably, a floating block placement groove is provided on the inner side of the upper end of the protection cylinder, and a push cone passing groove is provided on the inner side of the lower end of the protection cylinder. The lower end of the push cone is located at the push cone passing groove, and the lower end of the floating block is located in the floating block placement groove. The inner diameter of the floating block placement groove is larger than the outer diameter of the lower end of the floating block.
[0012] Preferably, the floating block includes an upper floating part and a lower floating part. Both the upper floating part and the lower floating part are cylindrical. The upper floating part passes through the support disk. The outer diameter of the upper floating part is smaller than the outer diameter of the lower floating part. The outer diameter of the lower floating part is smaller than the inner diameter of the floating block placement groove. The thrust bearing at the lower end is located on the upper end surface of the lower floating part.
[0013] Preferably, a plurality of magnets are installed circumferentially on the support disk, and magnets corresponding to the magnets on the support disk are installed at the lower end of the floating cover.
[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows:
[0015] The gripper of the robot is installed with a quick-change main disk. When the reflector needs to be used, the quick-change main disk is docked with the quick-change tool disk, and the reflector is lifted upward. The connecting cylinder one at the front end of the reflector frame is separated from the reflector placement seat. When it is not needed, the robot drives the quick-change tool disk and the reflector to move, so that the connecting cylinder one is docked with the connecting cylinder two, realizing the placement of the reflector, facilitating the placement and movement of the reflector, and facilitating the lidar test. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 is a schematic diagram of the use of the embodiment of the present utility model.
[0017] Figure 2 is a partial schematic diagram of the embodiment of the present utility model.
[0018] Figure 3 is a partial schematic diagram of the embodiment of the present utility model.
[0019] Figure 4 It is a partial schematic diagram of an embodiment of the present utility model.
[0020] Figure 5 It is a partial schematic diagram of an embodiment of the present utility model.
[0021] Figure 6 It is a partial schematic diagram of an embodiment of the present utility model.
[0022] Figure 7 It is a connection schematic diagram of connecting cylinder two and the floating mechanism in an embodiment of the present utility model.
[0023] Figure 8 It is a schematic diagram of the floating mechanism in an embodiment of the present utility model.
[0024] Figure 9 It is a cross-sectional view of the floating mechanism in an embodiment of the present utility model.
[0025] Figure 10 It is a partial schematic diagram of the floating mechanism in an embodiment of the present utility model.
[0026] Figure 11 It is a schematic diagram of the protection cylinder in an embodiment of the present utility model.
[0027] Figure 12 It is a cross-sectional view of the protection cylinder in an embodiment of the present utility model.
[0028] Figure 13 It is a schematic diagram of connecting cylinder one in an embodiment of the present utility model. Detailed implementation manners
[0029] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.
[0030] As shown in the figure, the present utility model discloses a reflective device for lidar testing, which includes a reflective plate 1 and a reflective plate placement seat 2. The reflective plate 1 is installed on a reflective plate frame 3. A transfer plate 4 is installed at the middle of the rear end of the reflective plate frame 3. A connecting column 5 is installed at the middle of the transfer plate 4. A hollow connecting cylinder one 6 is installed on the lower side of the connecting column 5. A quick-change tool disk 7 is installed at the front end of the connecting column 5. A quick-change main disk 8 corresponding to the quick-change tool disk 7 is installed at the gripper of the robot. A connecting cylinder two 9 is installed at the top of the reflective plate placement seat 2. The front end of the connecting cylinder two 9 is located inside the connecting cylinder one 6. The quick-change tool disk 7 and the quick-change main disk 8 are prior arts, such as the AQC-120 series of Jinan Aotu Technology Co., Ltd. The quick-change main disk 8 is installed at the gripper of the robot. When the reflective plate is needed, the quick-change main disk 8 is docked with the quick-change tool disk 7, and the reflective plate 1 is lifted upward, so that the connecting cylinder one 6 at the front end of the reflective plate frame 3 is separated from the reflective plate placement seat 2. When not in use, the robot drives the quick-change tool disk 7 and the reflective plate 1 to move, so that the connecting cylinder one 6 is docked with the connecting cylinder two 9 to realize the placement of the reflective plate 1.
[0031] In an embodiment of the present utility model, a buffer block one 10 is installed on one side of the reflective plate placement seat 2. An inclined surface one 11 is provided on the side of the buffer block one 10 away from the reflective plate placement seat. A buffer block two 12 is installed at the position corresponding to the buffer block one 10 on the transfer plate 4. The buffer block two 12 is provided with an inclined surface two 13 corresponding to the inclined surface one. The design of the buffer block one 10 and the buffer block two 13 enables the buffer block one 10 and the buffer block two 13 to also play a buffering role after the placement is completed.
[0032] In an embodiment of the present utility model, a plurality of induction sheets 14 are further installed at the lower end of the transfer plate 4. The induction sheets 14 are located at the lower end of the buffer block two 12. A sensor mounting plate 15 is installed on one side of the reflective plate placement seat 2. A plurality of sensors 16 corresponding to the induction sheets are installed on the sensor mounting plate 15. The sensor 17 senses a signal indicating that the reflective plate 1 is placed in place.
[0033] In an embodiment of the present utility model, it further includes a floating mechanism 17. The floating mechanism 17 includes a support disk 18, a floating block 19, and a floating cover 20. The support disk 18 is installed on the top of the reflector placement seat 2. Specifically, it can be connected by bolts. A protection cylinder 21 is installed at the lower end of the support disk 18, a cylinder 22 is installed at the bottom of the protection cylinder 21, a push cone 23 is installed at the output end of the cylinder 22, a conical hole 191 is provided at the bottom of the floating block 19, the top of the push cone 23 corresponds to the conical hole 191, the floating cover 20 is connected to the top of the floating block 19, the upper end of the floating block 19 passes through the middle of the support disk 8, the bottom of the connecting cylinder two 9 is connected to the middle of the top of the floating block 19, and a thrust bearing 24 is installed between the outer side of the upper end of the floating block 19 and the support disk 18 and the floating cover 20. A thrust bearing 24 is installed on the outer side of the lower end of the floating block. When it is not placed in place, the push cone 23 does not contact the bottom of the floating block 19. At this time, the reflector 1 can have a certain degree of floating. Specifically, when placing, the connecting cylinder one 6 applies pressure to the connecting cylinder two 9. The connecting cylinder two 9, the floating cover 20, and the floating block 19 are connected into one body by bolts. When the connecting cylinder two 9 sways left and right, the bottom of the floating block 19 can also sway left and right. When it is placed in place, the sensor sends a signal to the cylinder 22, and the cylinder 22 pushes the push cone 23 to move upward to hold the floating block 19, and at this time, it no longer floats.
[0034] The floating mechanism can protect the reflector placement seat 2 and reduce the pressure exerted on the reflector placement seat 2 when the connecting cylinder two 9 sways left and right. Without the floating mechanism, the reflector placement seat 2 will be damaged after long-term use.
[0035] In an embodiment of the present utility model, a floating block placement groove 211 is provided on the inner side of the upper end of the protection cylinder 21, a push cone through groove 212 is provided on the inner side of the lower end of the protection cylinder 21. The lower end of the push cone 23 is located at the push cone through groove 212, the lower end of the floating block 19 is located in the floating block placement groove 211, and the inner diameter of the floating block placement groove 211 is greater than the outer diameter of the lower end of the floating block 19. The distance between the inner diameter of the floating block placement groove 211 and the outer diameter of the lower end of the floating block 19 is the displaceable floating distance.
[0036] In an embodiment of the present utility model, the floating block 19 includes a floating upper part 191 and a floating lower part 192. Both the floating upper part 191 and the floating lower part 192 are cylindrical. The floating upper part 191 passes through the support disk 18. The outer diameter of the floating upper part 191 is smaller than the outer diameter of the floating lower part 192. The outer diameter of the floating lower part 192 is smaller than the inner diameter of the floating block placement groove 211, and the thrust bearing at the lower end is located on the upper end face of the floating lower part.
[0037] In an embodiment of the present utility model, a plurality of magnets 25 are circumferentially installed on the support disk 18, and magnets 25 corresponding to the magnets 25 on the support disk 18 are installed at the lower end of the floating cover 20. Through the mutual attraction of the two sets of magnets 25, the floating cover 20 and the support disk 18 are kept in the central position.
[0038] The above content is only an example and description of the structure of the present utility model. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods for substitution. As long as they do not deviate from the structure of the present utility model or exceed the scope defined by this claim book, they should fall within the protection scope of the present utility model.
Claims
1. A reflective device for lidar testing, characterized in that: It includes a reflector and a reflector placement seat. The reflector is installed on a reflector frame. A transfer plate is installed at the middle of the rear end of the reflector frame. A connecting column is installed at the middle of the transfer plate. A hollow connecting cylinder one is installed on the lower side of the connecting column. A quick-change tool disk is installed at the front end of the connecting column. A quick-change main disk corresponding to the quick-change tool disk is installed at the gripper of the robot. A connecting cylinder two is installed on the top of the reflector placement seat. The front end of the connecting cylinder two is located inside the connecting cylinder one.
2. The reflective device for lidar testing according to claim 1, wherein: A buffer block one is installed on one side of the reflector placement seat. An inclined surface one is provided on the side of the buffer block one away from the reflector placement seat. A buffer block two is installed at the corresponding position of the transfer plate and the buffer block one. The buffer block two is provided with an inclined surface two corresponding to the inclined surface one.
3. The reflective device for lidar testing according to claim 2, characterized in that: A plurality of induction sheets are also installed at the lower end of the transfer plate. The induction sheets are located at the lower end of the buffer block two. A sensor mounting plate is installed on one side of the reflector placement seat. A plurality of sensors corresponding to the induction sheets are installed on the sensor mounting plate.
4. A reflective device for lidar testing according to claim 1, characterized in that: It also includes a floating mechanism. The floating mechanism includes a support disk, a floating block and a floating cover. The support disk is installed on the top of the reflector placement seat. A protection cylinder is installed at the lower end of the support disk. A cylinder is installed at the bottom of the protection cylinder. A push cone is installed at the output end of the cylinder. A tapered hole is provided at the bottom of the floating block. The top of the push cone corresponds to the tapered hole. The floating cover is connected to the top of the floating block. The upper end of the floating block passes through the middle of the support disk. The bottom of the connecting cylinder two is connected to the middle of the top of the floating block. A thrust bearing is installed between the outer side of the upper end of the floating block and the support disk and the floating cover. A thrust bearing is installed on the outer side of the lower end of the floating block.
5. The reflective device for lidar testing according to claim 4, characterized in that: A floating block placement groove is provided on the inner side of the upper end of the protection cylinder. A push cone passing groove is provided on the inner side of the lower end of the protection cylinder. The lower end of the push cone is located at the push cone passing groove. The lower end of the floating block is located in the floating block placement groove. The inner diameter of the floating block placement groove is larger than the outer diameter of the lower end of the floating block.
6. The reflective device for lidar testing according to claim 5, characterized in that: The floating block includes a floating upper part and a floating lower part. Both the floating upper part and the floating lower part are cylindrical. The floating upper part passes through the support disk. The outer diameter of the floating upper part is smaller than the outer diameter of the floating lower part. The outer diameter of the floating lower part is smaller than the inner diameter of the floating block placement groove. The thrust bearing at the lower end is located on the upper end face of the floating lower part.
7. The reflective device for lidar testing according to claim 6, characterized in that: A plurality of magnets are installed circumferentially on the support disk. Magnets corresponding to the magnets on the support disk are installed at the lower end of the floating cover.