Dual-laser radar scanning device and carrying mechanism thereof

Abstract

The utility model provides a double-laser radar scanning device and a carrying mechanism thereof, the double-laser radar scanning device comprises two single-line laser radars and a carrying mechanism, the two single-line laser radars are arranged at different positions of an electric linear rail of the laser radar carrying mechanism, and the carrying mechanism is arranged on the electric linear rail of the laser radar carrying mechanism. The carrying mechanism comprises a horizontally arranged electric linear guide rail, two coordinate sliding tables and a vertical fixed seat; the electric linear rail is used for carrying and moving the laser radar and is arranged on the two coordinate sliding tables; the two coordinate sliding tables are arranged on the vertical fixing base and comprise an X-axis sliding table, a Z-axis sliding table and a connecting plate, the connecting plate is used for connecting the two ends of the electric linear guide rail, and the X-axis sliding table is arranged on the vertical fixing base. According to the utility model, the precision of single-axis movement can ensure the precision of scanning point cloud in the direction, and meanwhile, the visual angle difference of the point cloud can be obtained by using double lasers at different positions, and random errors are reduced, so that system errors are reduced, and large-scale and low-cost three-dimensional point cloud sensing is realized.

Description

TECHNICAL FIELD

[0001] The utility model relates to three -dimensional image scanning equipment technical field. BACKGROUND

[0002] Single line laser radar can gather space point position information quickly and in a wide range, and provides a brand new technical means for quickly establishing the two -dimensional image model of object. Multi -line laser radar can directly obtain three -dimensional point cloud information, but the precision is lower than single line laser radar. And three -dimensional structured light camera, although the precision is higher, but the field of view is small, and it is inconvenient to use, and the price is higher.

[0003] How can the three -dimensional point cloud of higher precision and larger field of view be obtained at lower cost is the problem that the person skilled in the art expects to solve. UTILITY MODEL CONTENT

[0004] The utility model discloses a kind of dual laser radar scanning devices and its carrying mechanism, which can obtain three-dimensional point cloud of larger field of view at low cost, to solve the deficiencies in the prior art described above.

[0005] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0006] A laser radar carrying mechanism, comprising a horizontally arranged electric wire rail, two coordinate slides and a vertical fixed base, the electric wire rail is used to carry and move the laser radar, and is arranged on the two coordinate slides, and the two coordinate slides are arranged on the vertical fixed base; the two coordinate slides comprise an X-axis slide, a Z-axis slide and a connecting plate, the Z-axis slide base is arranged in the sliding groove of the X-axis slide, the connecting plate is fixed to one side of the Z-axis slide, and is used to connect the two ends of the electric wire rail, and the X-axis slide is arranged on the vertical fixed base, and the adjustment direction of the X-axis slide is perpendicular to the electric wire rail.

[0007] The electric wire rail refers to an electric linear slide rail, and the patent further provides an electric wire rail, comprising a fixed frame, a linear guide rail, a sliding block, a rack, a gear and a stepping motor, the linear guide rail is fixed to the fixed frame, the sliding block is arranged on the linear guide rail, the rack is fixed to one side of the fixed frame, the gear is engaged with the rack, the central shaft of the gear is connected with the output shaft of the stepping motor, and the stepping motor is fixed to the sliding block. When the stepping motor works, the gear moves along the rack, and simultaneously drives the connected sliding block to move along the guide rail. The two ends of the fixed frame are arranged on the two coordinate slides and are fixedly connected through the connecting plate.

[0008] Furthermore, a flange is further arranged on the sliding block, for quickly installing the laser radar.

[0009] Further, the vertical fixing base comprises a stand, a fixing table, an adjusting disc and a connecting locking mechanism, the adjusting disc is arranged on the fixing table, the connecting locking mechanism is arranged on the top of the stand, the adjusting disc and the edge of the fixing table are fixed on the stand through the connecting locking mechanism, and the adjusting disc is used for connecting two coordinate sliding tables.

[0010] Further, the connecting locking mechanism is a self-locking bolt fastener, more than three connecting locking mechanisms are arranged on each stand, and each connecting locking mechanism comprises a U-shaped component, a fixing bolt, a locking bolt and a fine adjustment bolt; the fixing bolt passes through the lower leg of the U-shaped component and the stand; the locking bolt is arranged on the upper leg of the U-shaped component and is used for locking the fixing table; and the fine adjustment bolt is arranged on the lower leg of the U-shaped component, and the nut of the fine adjustment bolt is located below the lower leg of the U-shaped component; the upper leg of the U-shaped component is in contact with the side wall of the adjusting disc and plays a stabilizing role.

[0011] The double laser radar scanning device comprises two single-line laser radars and a carrying mechanism, the carrying mechanism is any one of the laser radar carrying mechanisms described in the patent, and the two single-line laser radars are arranged at different positions of the motorized wire track of the laser radar carrying mechanism.

[0012] Further, in order to adapt to a large-size scanning piece and have a better visual angle difference, a radar support is further arranged, a first single-line laser radar and a second single-line laser radar in the two single-line laser radars are arranged at two ends of the radar support respectively, and the middle part of the radar support is fixed on the flange of the motorized wire track and is perpendicular to the motorized wire track.

[0013] Further, the slide table load of the double laser radar scanning device can be 10 kg, the speed can be 0.01-0.2 m / s, and the repeated positioning accuracy can be ±0.05 mm.

[0014] The double laser radar scanning device and the carrying mechanism thereof have the advantages that:

[0015] The double laser radar scanning device and the carrying mechanism thereof have the advantages that:

[0016] The specific embodiments of the double laser radar scanning device and the carrying mechanism thereof will be described below with reference to the drawings: DRAWINGS

[0017] Figure 1 The double laser radar scanning device provided by the utility model is shown in the whole structure diagram.

[0018] Figure 2The two-coordinate sliding table structure schematic diagram of the laser radar carrying mechanism is provided for the embodiment of the utility model.

[0019] Figure 3 The electric wire rail structure schematic diagram of the laser radar carrying mechanism is provided for the embodiment of the utility model.

[0020] Figure 4 The partial structure schematic diagram of the vertical fixing seat of the laser radar carrying mechanism is provided for the embodiment of the utility model.

[0021] Figure 5 For Figure 4 The side view. DETAILED DESCRIPTION

[0022] The specific embodiments described herein are merely for the purpose of illustrating the technical solutions of the present patent, and are not intended to limit the disclosed technical solutions. In addition, it should be noted that, for the purpose of description, only part of the structures related to the technical solutions of the present disclosure are shown in the drawings, rather than all structures.

[0023] Before discussing the example embodiments in more detail, it should be mentioned that the structure of the device components and modules mentioned in the embodiments, if not specified in detail, can be understood by those skilled in the art according to the existing disclosed technology or commercially available products.

[0024] As Figure 1 , Figure 2 The laser radar carrying mechanism provided by the embodiment includes an electric wire rail 1 arranged horizontally, a two-coordinate sliding table 2, and a vertical fixing seat 3. The electric wire rail 1 is used to carry and move the laser radar and is arranged on the two-coordinate sliding table 2. The two-coordinate sliding table 2 is arranged on the vertical fixing seat 3. The two-coordinate sliding table 2 includes an X-axis sliding table 201, a Z-axis sliding table 202, and a connecting plate 203. The base of the Z-axis sliding table 202 is arranged in a sliding groove of the X-axis sliding table 201. The connecting plate 203 is fixed to one side of the Z-axis sliding table 202 and is used to connect two ends of the electric wire rail 1. The X-axis sliding table 201 is arranged on the vertical fixing seat 3. The adjustment direction of the X-axis sliding table 201 is perpendicular to the electric wire rail 1.

[0025] The electric wire rail 1 refers to an electric linear sliding rail. The embodiment provides an electric wire rail 1. Referring to Figure 3, including a fixed frame 101, a linear guide rail 102, a sliding block 103, a rack 104, a gear 105 and a stepping motor 106, the linear guide rail 102 is fixed on the fixed frame 101, the sliding block 103 is arranged on the linear guide rail 102, the rack 104 is fixed on one side of the fixed frame 101, the gear 105 is engaged with the rack 104, the central shaft of the gear 105 is connected with the output shaft of the stepping motor 106, and the stepping motor 106 is fixed on the sliding block 103. When the stepping motor 106 works, the gear 105 moves along the rack 104, and at the same time drives the connected sliding block 103 to move along the guide rail. The two ends of the fixed frame 101 are arranged on the two coordinate sliding tables 2 and are fixedly connected through the connecting plate 203. A connecting flange 107 can be further arranged on the sliding block 103, which is used for quickly installing a laser radar or a radar support.

[0026] With reference to Figure 4 and Figure 5 , the embodiment provides a vertical fixed seat capable of adjusting a pose, which comprises a stand 301, a fixed table 302, an adjusting disc 303 and a connecting and locking mechanism 304. The adjusting disc 303 is arranged on the fixed table 302, and the connecting and locking mechanism 304 is arranged at the top of the stand 301. The adjusting disc 303 and the edge of the fixed table 302 are fixed on the stand 301 through the connecting and locking mechanism 304. The adjusting disc 303 is used for connecting two coordinate sliding tables 2. The connecting and locking mechanism 304 is a self-locking bolt fastener, and more than three are arranged on each stand 301. The connecting and locking mechanism 304 comprises a U-shaped member 304a, a fixed bolt 304b, a locking bolt 304c and a fine adjustment bolt 304d. The fixed bolt 304b penetrates the lower leg of the U-shaped member 304a and the stand 301. The locking bolt 304c is arranged on the upper leg of the U-shaped member 304a and is used for locking the fixed table 302. The fine adjustment bolt 304d is arranged on the lower leg of the U-shaped member 304a, and the nut of the fine adjustment bolt 304d is located below the lower leg of the U-shaped member 304a. The upper leg of the U-shaped member 304a is in contact with the side wall of the adjusting disc 303 and plays a stabilizing role.

[0027] As shown in Figure 1 , the double-laser-radar scanning device of the patent comprises two single-line laser radars and a carrying mechanism. The carrying mechanism can adopt any one of the laser-radar carrying mechanisms in the above embodiments. During scanning, the two single-line laser radars are fixed at different positions of the electric wire rail 1 of the laser-radar carrying mechanism. In order to adapt to large-size scanning objects and have better visual angle difference, a radar support 4, such as a carbon fiber rod, is arranged. The first single-line laser radar 5 and the second single-line laser radar 6 in the two single-line laser radars are respectively installed at two ends of the radar support 4, and the middle part of the radar support 4 is fixed on the flange 107 of the electric wire rail 1 and is perpendicular to the electric wire rail 1. The radar support 4 can be a telescopic rod with a length of 0.5-2 m.

[0028] Further, the slide table load of the laser radar scanning device is set as 10 kg, the speed is 0.01-0.2 m / s, and the repeated positioning accuracy is ±0.05 mm.

[0029] In use, the workpiece to be scanned is placed on the workbench. The operator coarsely adjusts the two ends of the double laser radar scanning device through the two-coordinate slide table to determine the scanning position, and then finely adjusts through the fine adjustment bolt on the vertical fixed seat to complete the adjustment work before scanning. After determination, the motor and the scanning program are started.

[0030] The above is an example of a preferred embodiment of the present application, but the present application is not limited to the embodiments described, and those skilled in the art can make various equivalent modifications or replacements without departing from the spirit of the present application. These equivalent modifications or replacements are all included within the scope defined by the claims of the present application.

Claims

1. A laser radar mounting mechanism characterized by comprising: The application relates to a laser radar carrying mechanism, which comprises horizontally arranged electric wire tracks (1), two coordinate sliding tables (2) and vertical fixing bases (3), wherein the electric wire tracks (1) are arranged on the two coordinate sliding tables (2) and are used for carrying and moving laser radars, the two coordinate sliding tables (2) are arranged on the vertical fixing bases (3), the two coordinate sliding tables (2) comprise X-axis sliding tables (201), Z-axis sliding tables (202) and connecting plates (203), the Z-axis sliding table (202) is arranged in a sliding groove of the X-axis sliding table (201), the connecting plate (203) is fixed to one side of the Z-axis sliding table (202) and is used for connecting two ends of the electric wire tracks (1), and the X-axis sliding table (201) is arranged on the vertical fixing base (3) and is adjusted in a direction perpendicular to the electric wire tracks (1).

2. The lidar-mounting mechanism of claim 1, wherein: The electric wire track (1) comprises a fixing frame (101), linear guides (102), sliding blocks (103), racks (104), gears (105) and stepping motors (106), the linear guides (102) are fixed to the fixing frame (101), the sliding blocks (103) are arranged on the linear guides (102), the racks (104) are fixed to one side of the fixing frame (101), the gears (105) are engaged with the racks (104), the central shaft of the gear (105) is connected with the output shaft of the stepping motor (106), and the stepping motor (106) is fixed to the sliding block (103).

3. The lidar-mounting mechanism of claim 2, wherein: The sliding block (103) is provided with a flange (107) for quickly installing the laser radar.

4. The lidar-mounting mechanism of claim 1, wherein: The vertical fixing base (3) comprises vertical columns (301), fixing tables (302), adjusting discs (303) and connecting locking mechanisms (304), the adjusting disc (303) is arranged on the fixing table (302), the connecting locking mechanism (304) is arranged on the top of the vertical column (301), the adjusting disc (303) and the edge of the fixing table (302) are fixed to the vertical column (301) through the connecting locking mechanism (304), and the adjusting disc (303) is used for connecting the two coordinate sliding tables (2).

5. The lidar-mounting mechanism of claim 4, wherein: The connecting locking mechanism (304) is a self-locking bolt fastener, and more than three connecting locking mechanisms (304) are arranged on each vertical column (301).

6. The lidar-mounting mechanism of claim 4, wherein: The connecting locking mechanism (304) comprises a U-shaped component (304a), fixing bolts (304b), locking bolts (304c) and fine adjustment bolts (304d), the fixing bolt (304b) penetrates through the lower branch of the U-shaped component (304a) and the vertical column (301), the locking bolt (304c) is arranged on the upper branch of the U-shaped component (304a) and is used for locking the fixing table (302), the fine adjustment bolt (304d) is arranged on the lower branch of the U-shaped component (304a), the nut of the fine adjustment bolt (304d) is arranged below the lower branch of the U-shaped component (304a), and the upper branch of the U-shaped component (304a) is in contact connection with the side wall of the adjusting disc (303).

7. A dual lidar scanning apparatus comprising two single-line lidars and a piggyback mechanism, characterized in that: The carrying mechanism is the laser radar carrying mechanism in any one of claims 1-6, and two single-line laser radars are arranged at different positions of the electric wire tracks (1) of the laser radar carrying mechanism.

8. The dual lidar scanning device of claim 7, wherein: The radar support (4) is provided with a first single-line laser radar (5) and a second single-line laser radar (6) at two ends thereof, and the middle part of the radar support (4) is fixed on the flange (107) of the electric track (1) and is perpendicular to the electric track (1).

9. The dual lidar scanning device of claim 8, wherein: The radar support (4) is a telescopic rod with a length of 0.5-2 m.

10. The dual lidar scanning device of claim 7, wherein: The repeated positioning accuracy is ±0.05 mm, the load of the two coordinate sliding tables (2) is 10 kg, and the speed of the electric track (1) is 0.01-0.2 m / s.

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