Calibration system for underwater laser line scanning equipment

Abstract

The utility model discloses a calibration system for underwater laser line scanning equipment, and belongs to the technical field of underwater detection. The calibration system is composed of a first track, a second track, a six-degree-of-freedom manipulator and a calibration plate. The first track is fixed at an underwater set position, and the second track is fixed on the first track so as to move along the first track. And the six-degree-of-freedom manipulator is fixed on the second track so as to move along the second track. The calibration plate is fixed on the six-degree-of-freedom manipulator so as to rotate along with the six-degree-of-freedom manipulator, and the calibration plate faces the underwater laser line scanning equipment. The calibration system for the underwater laser line scanning equipment is simple in structure, the position angle of the calibration plate can be flexibly adjusted, the calibration plate can be stably fixed, and the calibration work efficiency of the underwater laser line scanning system is improved.

Description

Technical Field

[0001] This utility model belongs to the field of underwater detection technology, and in particular relates to a calibration system for underwater laser line scanning equipment. Background Technology

[0002] Underwater laser line scanning equipment is a 3D scanning instrument specifically designed for underwater environments. It is primarily used to acquire 3D data of underwater objects and is suitable for various underwater exploration and inspection tasks. In the development of underwater laser line scanning equipment, underwater calibration and testing in a pool are typically required, a crucial step. However, currently, there is a lack of specialized equipment for calibrating underwater laser line scanning equipment. Traditional calibration methods involve operators holding a calibration board or using makeshift tools to reposition the board for calibration, and additional underwater illumination is needed to address insufficient underwater target lighting. This approach significantly reduces the efficiency of the system calibration process and introduces a series of calibration errors due to reduced efficiency. Summary of the Invention

[0003] In view of the shortcomings of related technologies, the purpose of this utility model is to provide a calibration system for underwater laser line scanning equipment, so as to solve the problem of low efficiency in the calibration process of underwater laser line scanning systems.

[0004] To achieve the above objectives, this utility model provides the following technical solution:

[0005] A calibration system for an underwater laser line scanning device includes:

[0006] The first track is fixed at a predetermined position underwater;

[0007] The second track is fixed on the first track and moves along the first track;

[0008] A six-degree-of-freedom manipulator is fixed on a second track to move along the second track;

[0009] The calibration plate is fixed to the six-degree-of-freedom manipulator so that it rotates with the manipulator and faces the underwater laser line scanning equipment.

[0010] In some embodiments, the calibration system for the underwater laser line scanning device also includes a first motor fixed on a first track, the output of which is connected to a six-degree-of-freedom manipulator to drive the six-degree-of-freedom manipulator to move along a second track.

[0011] In some embodiments, the calibration system for the underwater laser line scanning device also includes a second motor fixed on a second track, the output of which is connected to the second track to drive the second track to move along the first track.

[0012] In some embodiments, the calibration system for the underwater laser line scanning device also includes a power supply module, which is connected to the first motor, the second motor, and the six-degree-of-freedom manipulator to provide operating power.

[0013] In some embodiments, the power supply module is a 24V DC power supply.

[0014] In some embodiments, the calibration system for the underwater laser line scanning device also includes a central control unit, which is electrically connected to the power supply module and communicatively connected to the first motor, the second motor, and the six-degree-of-freedom manipulator.

[0015] In some embodiments, the central control unit communicates with the first motor, the second motor, and the six-degree-of-freedom manipulator using RS485 signals.

[0016] In some embodiments, the first track is fixed to the side wall of the calibration water tank by external fasteners.

[0017] In some embodiments, the external fastener is a bolt.

[0018] In some embodiments, the central control unit is connected to an external controller.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] 1. The calibration system for underwater laser line scanning equipment provided by this utility model consists of a first track, a second track, a six-degree-of-freedom manipulator, and a calibration plate. It has a simple structure, can flexibly adjust the position and angle of the calibration plate, and can stably fix the calibration plate, thereby improving the calibration efficiency of the underwater laser line scanning system.

[0021] 2. The calibration system for underwater laser line scanning equipment provided by this utility model also includes a first motor and a second motor, which can accurately adjust the position of the calibration plate, improve the automation level of the system, and have high reliability and stability. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of the present invention and form part of this application, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings:

[0023] Figure 1This is a schematic front view of an embodiment of the calibration system for underwater laser line scanning equipment of this utility model;

[0024] Figure 2 This is a schematic side view of an embodiment of the calibration system for underwater laser line scanning equipment of this utility model;

[0025] Figure 3 This is a control principle block diagram of an embodiment of the calibration system for the underwater laser line scanning equipment of this utility model;

[0026] Figure 4 This is a schematic diagram of information transmission for one embodiment of the calibration system for the underwater laser line scanning equipment of this utility model.

[0027] In the picture:

[0028] 1. First track; 2. Second track; 3. Six-DOF manipulator; 4. Calibration board; 5. First motor; 6. Second motor; 7. Power supply module; 8. Central control unit; 9. External controller. Detailed Implementation

[0029] The technical solutions in the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0030] In the description of this utility model, it should be understood that the terms "center", "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0032] See appendix Figures 1 to 4This paper presents an illustrative embodiment of the calibration system for an underwater laser line scanning device proposed in this invention. The calibration system includes a first track 1, a second track 2, a six-degree-of-freedom manipulator 3, and a calibration plate 4.

[0033] The first track 1 is fixed at a predetermined underwater position to prevent the underwater laser line scanning equipment calibration system from shaking or shifting during operation, thereby reducing errors and ensuring successful calibration. In this embodiment, the first track 1 is fixed to the side wall of the calibration pool by an external fastener. The external fastener can be a bolt. The second track 2 is fixed to the first track 1 and moves along it. In this embodiment, the first track 1 is a horizontal track, and the second track 2 is a vertical track.

[0034] See appendix Figure 1 and Figure 2 A six-degree-of-freedom (DOF) manipulator 3 is fixed on a second track 2 to move along the track. A calibration plate 4 is fixed on the manipulator 3 to rotate with it, with the calibration plate 4 facing the underwater laser line scanning equipment. The manipulator 3 can rotate the calibration plate 4 in six degrees of freedom. The arrangement of the first track 1 and the second track 2 expands the working space of the manipulator 3, allowing the calibration plate 4 to move with it in both horizontal and vertical directions. This enables flexible changes in the position and angle of the calibration plate 4 during the calibration process of the underwater laser line scanning equipment, allowing the camera of the underwater laser line scanning equipment to capture images of the calibration plate 4 at different positions and rotation angles to meet higher calibration requirements.

[0035] See appendix for further details. Figure 1 and Figure 2 To improve calibration accuracy, in this embodiment, the calibration system for the underwater laser line scanning equipment also includes a first motor 5 and a second motor 6. The first motor 5 is fixed to the first track 1, and its output is connected to a six-degree-of-freedom manipulator 3 to drive the manipulator 3 to move along the second track 2. The second motor 6 is fixed to the second track 2, and its output is connected to the second track 2 to drive the second track 2 to move along the first track 1. The first motor 5 and the second motor 6 can adjust the motion state of the six-degree-of-freedom manipulator 3 and the second track 2 according to specific calibration requirements, ensuring the accuracy of the position and angle of the calibration plate 4, reducing errors, and improving calibration efficiency.

[0036] See appendix Figure 3The calibration system for the underwater laser line scanning equipment also includes a power supply module 7, which is electrically connected to the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3 to provide operating power. In this embodiment, the power supply module 7 is a 24V DC power supply. 24V DC power is within a safe voltage range, providing a relatively stable voltage output with high safety. It can conveniently power the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3 simultaneously, simplifying the system's power supply design and saving space and cost.

[0037] See appendix for further details. Figure 3 During the calibration of the underwater laser line scanning equipment, the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3 work collaboratively. To ensure their coordinated operation, in this embodiment, the calibration system for the underwater laser line scanning equipment also includes a central control unit 8. The central control unit 8 is electrically connected to the power supply module 7 and communicatively connected to the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3. The central control unit 8 communicates with the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3 using RS485 signals. RS485 signals employ differential transmission, which provides stronger anti-interference capabilities against noise and ensures stability during signal transmission.

[0038] The central control unit 8, as the core component of the calibration system for the underwater laser line scanning equipment, is responsible for controlling the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3, and can receive the attitude data returned by them. (See appendix) Figure 4 Specifically, the central control unit 8 receives the vertical position of the six-degree-of-freedom manipulator 3 from the first motor 5, and sends a control signal to the first motor 5 to control the vertical movement of the six-degree-of-freedom manipulator 3; the central control unit 8 receives the horizontal position of the second track 2 from the second motor 6, and sends a control signal to the second motor 6 to control the horizontal movement of the second track 2; the central control unit 8 receives the data of the six deflection angles from the six-degree-of-freedom manipulator 3, and sends a control signal to the six-degree-of-freedom manipulator 3 to control the six-angle deflection of the six-degree-of-freedom manipulator 3.

[0039] See appendix Figure 3 and Figure 4 In this embodiment, the central control unit 8 is connected to the external controller 9. The central control unit 8 can receive control signals from the external controller 9 to control the first motor 5, the second motor 6, and the six-degree-of-freedom manipulator 3 to perform corresponding actions, and receive various data collected by the central control unit 8, including the underwater position and rotation angle of the calibration plate 4, providing good data support for evaluating the calibration quality.

[0040] All components of the calibration system for underwater laser line scanning equipment provided in this embodiment are made of pressure-resistant material, which can adapt to water depths of 0 to 10 meters, thus meeting the calibration scenarios of common underwater laser line scanning equipment.

[0041] In the above illustrative embodiment, the calibration system for the underwater laser line scanning equipment consists of a first track, a second track, a six-degree-of-freedom manipulator, and a calibration plate. It has a simple structure, can flexibly adjust the position and angle of the calibration plate, and can stably fix the calibration plate, thereby improving the calibration efficiency of the underwater laser line scanning system.

[0042] Finally, it should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0043] The above embodiments are only used to illustrate the technical solution of this utility model and not to limit it; although the utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this utility model or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solution of this utility model, and all such modifications and substitutions should be covered within the scope of the technical solution claimed by this utility model.

Claims

1. A calibration system for an underwater laser line scanning device, characterized in that, include: The first track is fixed at a predetermined position underwater; A second track is fixed on the first track to move along the first track; A six-degree-of-freedom manipulator, which is fixed on the second track to move along the second track; A calibration plate is fixed to the six-degree-of-freedom manipulator and rotates with it, the calibration plate facing the underwater laser line scanning device.

2. The calibration system for underwater laser line scanning equipment according to claim 1, characterized in that, It also includes a first motor, which is fixed on the first track, and the output end of the first motor is connected to the six-degree-of-freedom manipulator to drive the six-degree-of-freedom manipulator to move along the second track.

3. The calibration system for underwater laser line scanning equipment according to claim 2, characterized in that, It also includes a second motor, which is fixed on the second track and whose output end is connected to the second track to drive the second track to move along the first track.

4. The calibration system for underwater laser line scanning equipment according to claim 3, characterized in that, It also includes a power supply module, which is connected to the first motor, the second motor and the six-degree-of-freedom manipulator to provide working power.

5. The calibration system for underwater laser line scanning equipment according to claim 4, characterized in that, The power supply module is a 24V DC power supply.

6. The calibration system for an underwater laser line scanning device according to claim 4, characterized in that, It also includes a central control unit, which is electrically connected to the power supply module and is communicatively connected to the first motor, the second motor and the six-degree-of-freedom manipulator.

7. The calibration system for an underwater laser line scanning device according to claim 6, characterized in that, The central control unit is connected to the first motor, the second motor, and the six-degree-of-freedom manipulator via RS485 signal communication.

8. The calibration system for underwater laser line scanning equipment according to claim 1, characterized in that, The first track is fixed to the side wall of the calibration water tank by external fasteners.

9. The calibration system for an underwater laser line scanning device according to claim 8, characterized in that, The external fastener is a bolt.

10. The calibration system for an underwater laser line scanning device according to any one of claims 6-7, characterized in that, The central control unit is connected to an external controller.

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