CN116699576A - LiDAR transmitter dimming machine - Google Patents

Abstract

The application provides a laser radar emission dimming machine, which relates to the field of laser debugging. The laser radar emission dimming machine includes a positioning component, a multi-axis robot, a detection component and a control system. The positioning component, the multi-axis robot, and the detection component are respectively connected to the control system, and the detection component is arranged on the The light output side of the lens assembly, the positioning assembly is used to place and clamp the lens assembly, the multi-axis robot is used to collect the calibration image of the lens assembly and the positioning assembly and collect the optical fiber head and the position image of the lens assembly, and send the calibration image and the position image to the control system, the control system adjusts the position of the lens assembly by controlling the positioning assembly, and controls the multi-axis The robot adjusts the position of the fiber optic head to realize automatic light adjustment of the fiber optic head and lens assembly. This application can improve the problems of low efficiency and uncontrollable quality of manual dimming.

Description

LiDAR transmitter dimming machine

technical field

The present application relates to the field of laser debugging, in particular to a laser radar emission dimming machine.

Background technique

The transmitting part of the laser radar includes a fiber optic head and a lens assembly. Ideally, the laser emitted by the fiber optic head is emitted into the detection environment through the center of the lens assembly. Due to processing errors in the fiber optic head and lens assembly, it is impossible to guarantee that each laser radar will pass The laser emitted from the fiber optic head is emitted through the center of the lens assembly. Therefore, in the production process of the lidar, it is necessary to adjust the emission of the fiber optic head and the lens assembly.

In the prior art, manual dimming is generally used. Specifically, the optical fiber head is clamped manually with a clamp, and the position of the optical fiber head is adjusted through a three-dimensional manual adjustment frame so that it is aligned with the center of the lens assembly to complete the dimming. , the efficiency of manual dimming is low, and the quality is uncontrollable.

Contents of the invention

In view of this, the purpose of this application is to provide a laser radar emission dimming machine, which aims to solve the technical problems of low manual dimming efficiency and uncontrollable quality in the prior art.

In order to achieve the above object, the technical scheme adopted by the application is as follows:

An embodiment of the present application provides a laser radar transmitting dimming machine, the transmitting part of the laser radar includes a lens assembly and an optical fiber head, and the laser radar transmitting dimming machine includes a positioning component, a multi-axis robot, a detection component and a control system , the positioning assembly, the multi-axis robot, and the detection assembly are respectively connected to the control system, and the detection assembly is arranged on the light-emitting side of the lens assembly; the positioning assembly is used to place and clamp the The lens assembly, the multi-axis robot is used to collect the calibration image of the lens assembly and the positioning assembly, and send the calibration image to the control system, and the control system determines the calibration image according to the calibration image A calibration difference between the lens assembly and the positioning assembly, so that the positioning assembly performs azimuth adjustment according to the calibration difference, so as to realize the positioning of the lens assembly;

After the lens assembly is positioned, the multi-axis robot is also used to collect the position images of the optical fiber head and the lens assembly, and send the position images to the control system, and the control system according to the The position image determines the current position of the optical fiber head and the target dimming position of the lens assembly, so that the multi-axis robot clamps the optical fiber head to the target dimming position;

The detection component is used to detect the spot shape of the laser spot emitted by the optical fiber head, and send the light spot shape to the control system, and the control system calculates the displacement direction and displacement, so that the multi-axis robot grips the optical fiber head according to the displacement direction, the displacement and the spot shape and starts to move from the target dimming position to realize the adjustment of the laser spot , so as to complete the emission adjustment of the lens assembly and the optical fiber head.

In one of the embodiments of the first aspect, the detection component includes a collimator and an infrared camera, the collimator is used to check the linearity of the laser light emitted by the fiber head, and the infrared camera is used to record, Check and analyze the spot shape of the laser.

In one embodiment of the first aspect, the positioning assembly includes a positioning jig, a clamping mechanism, an adjustment mechanism, and a calibration block, and the clamping mechanism is installed on the positioning jig and clamps the lens assembly , the positioning jig is installed on the adjustment mechanism, the positioning jig is used to place the lens assembly, and the calibration block is arranged on one side of the positioning jig.

In one embodiment of the first aspect, the multi-axis robot includes a robotic arm, a gripper and a first vision camera, and both the gripper and the first vision camera are installed at the working end of the robotic arm, The gripper is used to grip the optical fiber head, and the mechanical arm has multiple degrees of freedom to control the gripper to move with multiple degrees of freedom;

The azimuth difference between the lens assembly and the calibration block is captured and analyzed by the first visual camera, and the control system controls the adjustment mechanism to adjust the azimuth of the positioning jig so that the lens assembly is in line with the calibration block. The calibration blocks are aligned, and the spot shape of the laser emitted by the fiber head is detected by the detection component. The control system controls the multi-axis robot to adjust the position of the fiber head, and performs the autofocus and spot shape of the laser. Adjustment, spot center symmetry detection, spot center position detection.

In one embodiment of the first aspect, the adjustment mechanism includes a first slide table, an elevator table, a pitch table and a rotation table, the first slide table includes a first slider, and the elevator table is installed on the On the first slider, the pitching platform is installed on the output end of the lifting platform, the rotating platform is installed on the pitching platform, the first sliding block can slide along the first direction, and the lifting platform can Expanding and contracting along the second direction, the first direction is perpendicular to the second direction, the pitch table can drive the positioning jig to turn over with the first direction as the axis, and the rotary table can drive the positioning jig The tool rotates about the second direction as the axis.

In one embodiment of the first aspect, the clamping mechanism includes a clamping cylinder and a clamping block, the clamping cylinder is installed on the positioning jig, and the clamping block is arranged on the clamping cylinder At the output end, an accommodating space for placing the lens assembly is formed between the clamping block and the positioning jig.

In one embodiment of the first aspect, the lidar emitting dimming machine further includes a dispensing assembly, and the dispensing assembly is arranged on both sides of the positioning assembly opposite to the multi-axis robot. The glue assembly is connected with the control system;

The dispensing assembly includes a second visual camera, and the second visual camera is used to collect the image to be dispensed and the dispensing image of the lens assembly, and send the image to be dispensed to the control system, so The control system determines the dispensing position of the lens assembly according to the image to be dispensed, and controls the dispensing assembly to move to the dispensing position to dispens the optical fiber head and the lens assembly. The system is also used to judge according to the dispensing image that when the dispensing effect of the optical fiber head and the lens assembly meets the preset effect, control the dispensing of the optical fiber head and the lens assembly by the dispensing assembly to cure.

In one embodiment of the first aspect, the lidar emission dimming machine further includes a base, and the positioning assembly, the multi-axis robot, the detection assembly and the dispensing assembly are all installed on the on the base.

In one embodiment of the first aspect, the dispensing assembly includes a displacement assembly, the second visual camera, a dispensing valve and an ultraviolet lamp, and the second visual camera, the dispensing valve and the ultraviolet light The lamps are all mounted on the displacement assembly.

In one embodiment of the first aspect, the displacement assembly includes a slide seat, a second slide table and a third slide table, two slide seats are provided, and slide rails are provided on the two slide seats , the slide rail is parallel to the first direction, the sliding of the second slide table is set on the slide rail, the second slide table includes a second slide block, and the second slide block can move along the third direction slide, the third slide is installed on the second slide, the third slide includes a third slide, the third slide can slide along the second direction, the second visual camera, Both the dispensing valve and the ultraviolet lamp are installed on the third slider;

The first direction, the second direction, and the third direction are perpendicular to each other.

Compared with the prior art, the beneficial effects of the present application are: the present application proposes a laser radar emission dimming machine, which can focus on the optical fiber head and the lens assembly. The laser radar emission dimming machine includes a positioning component, a multi-axis robot, a detection component and a control system, wherein the positioning component, the multi-axis robot, and the detection component are respectively connected to the control system, and the multi-axis robot is used for calibration of the acquisition lens component and the positioning component Image and collect the position image of the fiber optic head and lens assembly, and send the calibration image and position image to the control system. The detection component is used to detect the spot shape of the laser spot emitted by the fiber head, and send the spot shape to the control system. In this way, the control system determines the calibration difference between the lens assembly and the positioning assembly according to the calibration image, so that the positioning assembly can adjust the orientation according to the calibration difference to realize the positioning of the lens assembly; then, the control system determines the optical fiber head according to the position image. The current position of the lens assembly and the target dimming position of the lens assembly, so that the multi-axis robot can clamp the optical fiber head to the target dimming position; finally, the control system calculates the displacement direction and displacement of the optical fiber head according to the shape of the spot, so that the multi-axis robot Displacement direction, displacement amount and light spot shape The clamping fiber head starts to move from the target dimming position to realize the adjustment of the laser spot, so as to complete the emission dimming of the lens assembly and the fiber head. Through the laser radar emission dimming machine provided in this application, the optical fiber head and lens assembly can be automatically dimmed, improving work efficiency and product quality.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the accompanying drawings that are required in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and thus It should be regarded as a limitation on the scope, and those skilled in the art can also obtain other related drawings based on these drawings without creative work.

FIG. 1 shows a schematic structural diagram of a lidar emission dimming machine in some embodiments of the present application;

Figure 2 shows a schematic structural diagram of a positioning component in some embodiments of the present application;

Figure 3 shows a schematic structural view of a multi-axis robot in some embodiments of the present application;

Figure 4 shows a schematic structural diagram of a detection component in some embodiments of the present application;

Figure 5 shows a schematic structural view of the dispensing assembly in some embodiments of the present application;

Fig. 6 shows the first flow chart of the laser debugging method in some embodiments of the present application;

FIG. 7 shows the second flow chart of the laser debugging method in some embodiments of the present application;

Fig. 8 shows a control flow chart of the laser debugging method in some embodiments of the present application.

Description of main component symbols:

100-Lidar emission dimming machine; 110-positioning components; 111-positioning fixture; 112-adjustment mechanism; 1121-first sliding table; 1122-lifting table; Tightening mechanism; 1131-clamping cylinder; 1132-clamping block; 114-calibration block; 120-multi-axis robot; 121-mechanical arm; 122-gripper; 123-light source; 124-first vision camera; 131-collimator; 132-infrared camera; 140-dispensing assembly; 141-slider; 142-second slide; 143-third slide; 144-dispensing valve; 146-ultraviolet lamp; 150-pedestal.

Detailed ways

Embodiments of the present application are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary, are only for explaining the present application, and should not be construed as limiting the present application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial" , "radial", "circumferential" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device or Elements must have certain orientations, be constructed and operate in certain orientations, and thus should not be construed as limiting the application.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present application, "plurality" means two or more, unless otherwise specifically defined.

In this application, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In the present application, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

The embodiment of the present application provides a laser radar emission dimming machine 100, which can be used for laser emission debugging. The laser radar emission dimming machine 100 provided in this application can realize the automatic focusing of the optical fiber head and the emission lens, so that the emitted laser light can reach the best state, and the work efficiency and product quality can be improved.

As shown in FIG. 1 and FIG. 8 , the embodiment of the present application provides a laser radar emission dimming machine 100, the transmitting part of the laser radar includes a lens assembly and an optical fiber head, and the laser radar emission dimming machine 100 includes a positioning assembly 110, Multi-axis robot 120, detection assembly 130 and control system.

The positioning component 110, the multi-axis robot 120, and the detection component 130 are respectively connected to the control system, and the detection component 130 is arranged on the light-emitting side of the lens component; the positioning component 110 is used to place and clamp the lens component, and the multi-axis robot 120 is used to collect the lens The calibration image of the assembly and the positioning assembly 110, and the calibration image is sent to the control system, and the control system determines the calibration difference between the lens assembly and the positioning assembly 110 according to the calibration image, so that the positioning assembly 110 performs orientation adjustment according to the calibration difference to achieve positioning of the lens assembly;

After the lens assembly is positioned, the multi-axis robot 120 is also used to collect the position image of the optical fiber head and lens assembly, and send the position image to the control system, and the control system determines the current position of the optical fiber head and the target dimming of the lens assembly according to the position image position, so that the multi-axis robot 120 can clamp the optical fiber head to the target dimming position.

The detection component 130 is used to detect the spot shape of the laser spot emitted by the fiber optic head, and send the spot shape to the control system, and the control system calculates the displacement direction and displacement amount of the fiber optic head according to the spot shape, so that the multi-axis robot 120 can move according to the displacement direction, Displacement amount and light spot shape The clamping fiber head starts to shift from the target dimming position to realize the adjustment of the laser spot, so as to complete the emission dimming of the lens assembly and the fiber head.

In this application, through the setting of the positioning component 110, the multi-axis robot 120, the detection component 130 and the control system, the automatic positioning of the lens component, the automatic focusing of the optical fiber head and the lens component, and the automatic adjustment of the spot shape of the laser can be realized, and the lens component and the lens component can be completed. Transmit dimming of the fiber optic head.

As shown in Figure 4, in some embodiments, the detection assembly 130 includes a collimator 131 and an infrared camera 132, the collimator 131 is used to check the linearity of the laser emitted by the fiber head, and the infrared camera 132 is used for recording and inspection Analyze the laser spot shape.

The detection component 130 can receive the laser signal and perform feedback analysis on it. After the fiber head is connected, the laser signal emitted by the fiber head is received by the detection component 130. Fine-tune to make the laser reach the best state, and complete the debugging of the fiber head.

The collimator 131 can provide a circular spot beam with high straightness over a long distance, and the spot size changes little when the distance changes. The shape of the spot is fed back in real time through the visual algorithm of the collimator 131, and the theoretically required displacement direction and displacement are given. The multi-axis robot 120 grips the optical fiber head for displacement to complete auto-focusing.

The infrared camera 132 is installed between the positioning component 110 and the collimator 131, which can feed back the spot imaging effect of the laser and send it to the control system. The control system controls the multi-axis robot 120 to adjust the position of the fiber head, and finally feeds back the correct spot imaging form, to complete the dimming of the fiber optic head and lens assembly.

As shown in Figure 2, in some embodiments, the positioning assembly 110 includes a positioning jig 111, a clamping mechanism 113, an adjustment mechanism 112 and a calibration block 114, and the clamping mechanism 113 is installed on the positioning jig 111 and clamps the lens assembly , the positioning jig 111 is installed on the adjustment mechanism 112 , the positioning jig 111 is used to place the lens assembly, and the calibration block 114 is arranged on one side of the positioning jig 111 .

Under the restriction of the clamping mechanism 113, the lens assembly is fixed on the positioning jig 111, and since the positioning jig 111 is installed on the adjustment mechanism 112, the adjustment structure can adjust the positioning jig 111 through the adjustment platform of different adjustment directions. Adjust so that the lens assembly is at the preset calibration position.

In addition, the positioning jig 111 is a profiling design, so that when the lens assembly is installed on the positioning jig 111, the positioning jig 111 can completely fit the side of the lens assembly, which facilitates the fixing of the lens assembly and improves the installation stability.

In some embodiments, a backlight 123 is disposed on a side of the positioning jig 111 close to the rotating table 1124 .

Through the setting of the backlight 123, the backlight 123 can be turned on to increase the brightness of the positioning jig 111 during the adjustment of the lens assembly and the focusing of the optical fiber head, so as to ensure the adjustment accuracy of the lens assembly.

As shown in FIG. 3 , the multi-axis robot 120 includes a mechanical arm 121 and a gripper 122. The gripper 122 is installed on the working end of the robotic arm 121. The gripper 122 is used to clamp the optical fiber head. The robotic arm 121 has multiple degrees of freedom. Multiple degrees of freedom of motion are controlled by the jaws 122 .

The multi-axis robot 120 can move with multiple degrees of freedom to adjust the working position of the gripper 122 . After the lens assembly is adjusted to the calibrated position, the multi-axis robot 120 controls the gripper 122 to clamp the fiber head to the focusing position with the lens assembly to achieve automatic focusing of the fiber head and lens assembly, thereby improving laser debugging efficiency.

The orientation difference between the lens assembly and the calibration block 114 is grasped and analyzed by the first visual camera 124, and the control system controls the adjustment mechanism 112 to adjust the orientation of the positioning jig 111, so that the lens assembly is aligned with the calibration block 114 and detected by the detection assembly 130. For the shape of the laser spot emitted by the fiber head, the control system controls the multi-axis robot 120 to adjust the position of the fiber head, and perform laser autofocus, light spot shape adjustment, spot center symmetry detection, and spot center position detection.

The calibration block 114 is a cuboid structure, and its edges are respectively parallel to the first direction, the second direction, and the third direction, and serve as a reference for the direction of the lens assembly. The first visual camera 124 can capture and determine the orientation state of the lens assembly. When the orientation of the lens assembly in the first direction, the second direction, and the third direction is not aligned with the edge of the calibration block 114, a deviation occurs in a certain direction , the adjustment is performed through the corresponding adjustment platform of the adjustment mechanism 112 until the difference between the lens assembly and the calibration block 114 is within the set range.

In this embodiment, the multi-axis robot 120 may be a six-axis robot. It has the advantages of good flexibility, large operating range, good obstacle avoidance performance, no moving joints, good joint sealing performance, small joint driving force, and low energy consumption.

In some embodiments, a light source 123 is provided at the lens of the first visual camera 124 .

Through the setting of the light source 123, lighting is performed during the working process of the first visual camera 124, the brightness of the light is adjusted, the shooting clarity of the first visual camera 124 is improved, and the orientation judgment of the lens assembly is more accurate.

In some embodiments, the adjustment mechanism 112 includes a first sliding platform 1121, a lifting platform 1122, a pitching platform 1123 and a rotating platform 1124, the first sliding platform 1121 includes a first slider, and the lifting platform 1122 is installed on the first slider, The pitching platform 1123 is installed on the output end of the lifting platform 1122, the rotating platform 1124 is installed on the pitching platform 1123, the first slider can slide along the first direction, the first direction of the lifting platform 1122 is the axis turning, and the rotating platform 1124 can drive the positioning control The tool 111 rotates about the axis in the second direction.

Before focusing with the fiber optic head, the lens assembly needs to be fixed at a preset position for subsequent laser dimming. Through the setting of the first sliding platform 1121, the position of the lifting platform 1122 installed on the first sliding block can be moved in the first direction, and then the tilting platform 1123, the rotating platform 1124, the positioning jig 111 and the lens assembly can be adjusted in the first direction. The location of the direction.

The lifting platform 1122 can be an air cylinder or a hydraulic cylinder, and its output end is located on the side away from the first slider. Through the setting of the lifting platform 1122, the height of the pitching platform 1123 can be adjusted in the second direction, and then the rotating platform 1124 can be adjusted. , Positioning the jig 111 and the lens assembly in the second direction.

The tilting platform 1123 includes a platform capable of arc motion, and the rotating platform 1124 is installed on the platform. Through the setting of the tilting platform 1123, the rotating platform 1124 can perform an overturning movement with the first direction as the axis, so as to adjust the lens assembly in the The angle of the second direction.

The rotating table 1124 includes a rotatable mounting table, the mounting table is located on the side away from the pitch table 1123, the positioning jig 111 is installed on the mounting table, and the positioning jig 111 can be adjusted in the second direction through the setting of the rotating table 1124. is the rotational movement of the axis, thereby adjusting the angle of the lens assembly in the first direction.

In some embodiments, the clamping mechanism 113 includes a clamping cylinder 1131 and a clamping block 1132, the clamping cylinder 1131 is installed on the positioning jig 111, the clamping block 1132 is arranged at the output end of the clamping cylinder 1131, the clamping block 1132 and the positioning An accommodating space for placing the lens assembly is formed between the jigs 111 .

The clamping cylinder 1131 is vertically installed on the side of the positioning jig 111 , and the clamping block 1132 is parallel to the end surface of the positioning jig 111 and fixedly connected to the output end of the clamping cylinder 1131 . After the lens assembly is placed on the positioning jig 111, the clamping cylinder 1131 is contracted, and the clamping block 1132 is in contact with the lens assembly, pressing down on the lens assembly to fix the lens assembly, which is convenient for the subsequent adjustment mechanism 112 to align the positioning fixture. When the jig 111 is adjusted, the lens assembly and the positioning jig 111 are always kept relatively still.

As shown in FIG. 5 , in some embodiments, the laser radar emission dimming machine 100 also includes a glue dispensing assembly 140, which is arranged on both sides of the positioning assembly 110 opposite to the multi-axis robot 120, and the glue dispensing assembly 140 and the multi-axis robot 120 are arranged on both sides of the positioning assembly 110. The control system is connected, and the glue dispensing assembly 140 is used for bonding the light-adjusted optical fiber head and the lens assembly.

After the light adjustment of the optical fiber head and the lens assembly is completed, the glue dispensing assembly 140 is used to inject glue to the glue point to bond the optical fiber head and the lens assembly to complete the assembly of the optical fiber head. At the same time, the glue dispensing assembly 140 is arranged opposite to the multi-axis robot 120 to facilitate the activities of the glue dispensing assembly 140 and the multi-axis robot 120 and avoid the limitation of the working space.

In some embodiments, the dispensing assembly 140 includes a displacement assembly, a second vision camera 145 , a dispensing valve 144 and an ultraviolet lamp 146 , and the second vision camera 145 , the dispensing valve 144 and the ultraviolet lamp 146 are all mounted on the displacement assembly.

The second visual camera 145 is used to collect the image to be dispensed and the dispensing image of the lens assembly, and sends the image to be dispensed to the control system, and the control system determines the dispensing position of the lens assembly according to the image to be dispensed, and controls the dispensing assembly 140 moves to the dispensing position to dispens the fiber optic head and lens assembly, and the control system is also used to judge according to the dispensing image when the dispensing effect of the fiber optic head and lens assembly meets the preset effect, and control the dispensing assembly 140 to the fiber optic head And the dispensing of lens components is cured.

The second visual camera 145 can obtain and analyze the dispensing position of the optical fiber head and the lens assembly, and feed back to the PLC (Programmable Logic Controller, programmable logic controller) system, and the PLC sends instructions to make the displacement assembly drive the dispensing valve 144 to reach the corresponding point Glue dispensing is completed at the glue position, and the second visual camera 145 judges the glue dispensing effect, and after confirming the effect, move the ultraviolet lamp 146 to the glue dispensing position to complete the glue curing.

In some embodiments, the displacement assembly includes a sliding seat 141, a second sliding table 142 and a third sliding table 143. There are two sliding seats 141, and two sliding seats 141 are provided with slide rails. The directions are parallel, the sliding of the second slide table 142 is arranged on the slide rail, the second slide table 142 includes the second slide block, the second slide block can slide along the third direction, and the third slide table 143 is installed on the second slide block , the third sliding table 143 includes a third sliding block, the third sliding block can slide along the second direction, the second vision camera 145, the dispensing valve 144 and the ultraviolet lamp 146 are all installed on the third sliding block.

The first direction, the second direction, and the third direction are perpendicular to each other, and through the setting of the slide seat 141, the second slide table 142 and the third slide table 143, the second visual camera 145, the dispensing valve 144 and the ultraviolet lamp 146 can be Position adjustment in three directions ensures accurate dispensing and easy adjustment.

In some embodiments, the laser radar emitting dimmer 100 further includes a base 150 on which the positioning component 110 , the multi-axis robot 120 , the detection component 130 and the dispensing component 140 are all installed.

The positioning assembly 110, the multi-axis robot 120, the detection assembly 130 and the glue dispensing assembly 140 can be installed on the base 150 by means of bolt fixing or the like to form an integrated arrangement. The bottom of the base 150 can be provided with a plurality of universal wheels, so as to facilitate Overall movement of the dimmer. At the same time, through the setting of the base 150, each operating part is isolated from the ground, so as to avoid stealth damage to equipment such as resurgence.

As shown in Figure 6 and Figure 7, the embodiment of the present application also provides a laser debugging method, the laser debugging method includes:

S10 , fixing the lens assembly on the positioning jig 111 .

The lens assembly can be placed on the positioning jig 111 manually or by a robot. After the lens assembly fits with the positioning jig 111 , the clamping cylinder 1131 controls the clamping block 1132 to fix the lens assembly.

S20, using the adjustment mechanism 112 to adjust the orientation of the lens assembly, so that the lens assembly is aligned with the calibration block 114 .

The calibration block 114 is disposed on one side of the positioning component 110 , and the calibration block 114 is a cuboid structure, and its edges are respectively parallel to the first direction, the second direction, and the third direction. The orientation of the lens assembly is captured by the first visual camera 124 on the multi-axis manipulator, and fed back to the control system. The control system detects whether the lens assembly is in a horizontal state through visual algorithm analysis, and judges whether the lens assembly is in a horizontal state with the calibration block 114. The difference between the first direction, the second direction and the third direction further controls the adjustment mechanism 112 to adjust the positioning assembly 110 so that the difference between the lens assembly and the calibration block 114 is within a set range.

Specifically, the positioning jig 111 can be controlled to move in the first direction through the first sliding platform 1121, the positioning jig 111 can be controlled to move in the second direction through the lifting platform 1122, and the positioning jig 111 can be controlled to move in the first direction through the pitching platform 1123. The axis is reversed to adjust the angle of the lens assembly in the second direction, and the positioning jig 111 is manipulated by the rotating table 1124 to rotate with the second direction as the axis, thereby adjusting the angle of the lens assembly in the first direction.

S30, using the multi-axis robot 120 to clamp the optical fiber head, and focus the optical fiber head and the lens assembly.

After the multi-axis robot 120 clamps the fiber head to the dimming position, the collimator 131 can feed back the laser emission angle in real time according to the visual algorithm, give the theoretically adjusted displacement direction and displacement of the fiber head, and feed back to the controller system, the control system further controls the multi-axis robot 120 to complete the displacement adjustment of the optical fiber head according to the visual feedback data, and completes the automatic focusing.

S40, adjusting the imaging form of the light spot.

After the focusing is completed, the shape of the light spot fed back by the infrared camera 132 is fed back to the control system, and the control system adjusts the optical fiber head by manipulating the multi-axis robot 120 to adjust the light spot of visual feedback to the best shape. Then, distribute the light spots symmetrically to complete the central symmetric re-inspection, and finally put each light spot to the center position to complete the central re-inspection. If the central re-inspection does not meet the preset standard, adjust the shape of the spot again, and perform the central symmetric re-inspection and central re-inspection again until the spot is qualified. Through the final spot imaging effect, it can be fed back whether the optical path is smooth, and the shape of the spot imaging is correct, then the positional relationship between the fiber optic head and the lens is correct, and the dimming is completed.

S50, bonding the optical fiber head to the lens assembly when the imaging form of the light spot satisfies the preset condition.

After the dimming is completed, the second visual camera 145 analyzes and judges the dispensing position information of the optical fiber head and the lens assembly through an algorithm, and feeds back to the PLC system, and the LC system sends an instruction to make the displacement component drive the dispensing valve 144 to the completion point of the dispensing position glue.

Specifically, the sliding seat 141 is provided with a slide rail parallel to the first direction, which can make the dispensing valve 144 move in the first direction, and the second sliding table 142 can control the dispensing valve 144 to move in the third direction. , the third slide 143 can control the dispensing valve 144 to move in the second direction.

S60, the second visual camera 145 judges the dispensing effect, and after confirmation, the glue is cured by the ultraviolet lamp 146 .

After the dispensing is completed, the dispensing position information is captured again by the second visual camera 145 to judge the dispensing effect. If the dispensing effect does not meet the preset requirements, the dispensing valve 144 is controlled to dispens again, and the dispensing effect is qualified. Finally, control the ultraviolet light to irradiate the glue on the dispensing position, finally make the glue solidify, and assemble the optical fiber head and the lens assembly. After the assembly is completed, the lens assembly is removed manually or mechanically and put into a storage container.

The laser debugging method provided in this application can reduce the launch and debugging time of the laser radar, improve the production capacity per unit hour, controllable and traceable light adjustment performance parameters, better consistency, and more in line with vehicle regulations when applied to automobiles.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limitations on the present application, and those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. The laser radar emission dimming machine is characterized by comprising a positioning component, a multi-axis robot, a detection component and a control system, wherein the positioning component, the multi-axis robot and the detection component are respectively connected with the control system, and the detection component is arranged on the light emitting side of the lens component; the positioning assembly is used for placing and clamping the lens assembly, the multi-axis robot is used for collecting calibration images of the lens assembly and the positioning assembly and sending the calibration images to the control system, and the control system determines a calibration difference between the lens assembly and the positioning assembly according to the calibration images so that the positioning assembly can carry out azimuth adjustment according to the calibration difference to position the lens assembly;

after the lens assembly is positioned, the multi-axis robot is further used for collecting position images of the optical fiber head and the lens assembly and sending the position images to the control system, and the control system determines the current position of the optical fiber head and the target dimming position of the lens assembly according to the position images so that the multi-axis robot clamps the optical fiber head to the target dimming position;

the detection assembly is used for detecting the light spot form of the laser light spot emitted by the optical fiber head and sending the light spot form to the control system, and the control system calculates the displacement direction and the displacement amount of the optical fiber head according to the light spot form, so that the multi-axis robot clamps the optical fiber head to displace from the target dimming position according to the displacement direction, the displacement amount and the light spot form, and the adjustment of the laser light spot is realized, so that the emission dimming of the lens assembly and the optical fiber head is completed.

2. The lidar transmission light regulating machine according to claim 1, wherein the detection component comprises a collimator for performing linearity inspection on the laser light emitted by the optical fiber head and an infrared camera for recording, inspecting and analyzing the spot shape of the laser light.

3. The lidar launch dimming machine of claim 1, wherein the positioning assembly comprises a positioning jig, a clamping mechanism, an adjusting mechanism and a calibration block, the clamping mechanism is mounted on the positioning jig and clamps the lens assembly, the positioning jig is mounted on the adjusting mechanism, the positioning jig is used for placing the lens assembly, and the calibration block is arranged on one side of the positioning jig.

4. The lidar launch dimmer of claim 3, wherein the multi-axis robot comprises a robotic arm, a jaw, and a first vision camera, the jaw and the first vision camera each mounted to a working end of the robotic arm, the jaw configured to grip the fiber optic head, the robotic arm having a plurality of degrees of freedom to control the jaw to perform the plurality of degrees of freedom movements;

the method comprises the steps that the first vision camera is used for grabbing and analyzing the azimuth difference between the lens assembly and the calibration block, the control system controls the adjusting mechanism to conduct azimuth adjustment on the positioning jig, the lens assembly is aligned with the calibration block, the light spot form of laser emitted by the optical fiber head is detected through the detecting assembly, the control system controls the multi-axis robot to adjust the position of the optical fiber head, and automatic focusing, light spot form adjustment, light spot central symmetry detection and light spot central position detection of the laser are conducted.

5. The lidar of claim 3 or 4, wherein the adjustment mechanism comprises a first sliding table, a lifting table, a pitching table and a rotating table, the first sliding table comprises a first sliding block, the lifting table is mounted on the first sliding block, the pitching table is mounted at an output end of the lifting table, the rotating table is mounted on the pitching table, the first sliding block can slide along a first direction, the lifting table can stretch and retract along a second direction, the first direction is perpendicular to the second direction, the pitching table can drive the positioning jig to turn around the first direction as an axis, and the rotating table can drive the positioning jig to rotate around the second direction as an axis.

6. The lidar transmission light regulating machine according to claim 3 or 4, wherein the clamping mechanism comprises a clamping cylinder and a clamping block, the clamping cylinder is mounted on the positioning jig, the clamping block is arranged at the output end of the clamping cylinder, and an accommodating space for accommodating the lens assembly is formed between the clamping block and the positioning jig.

7. The laser radar transmitting and dimming machine according to claim 1, further comprising a dispensing assembly, wherein the dispensing assembly and the multi-axis robot are oppositely arranged at two sides of the positioning assembly, and the dispensing assembly is connected with the control system;

the dispensing component comprises a second vision camera, the second vision camera is used for collecting an image to be dispensed and a dispensing image of the lens component, the image to be dispensed is sent to the control system, the control system determines the dispensing position of the lens component according to the image to be dispensed, the dispensing component is controlled to move to the dispensing position to dispense the optical fiber head and the lens component, and the control system is further used for controlling the dispensing component to cure the dispensing of the optical fiber head and the lens component when the dispensing effect of the optical fiber head and the lens component meets a preset effect according to the dispensing image.

8. The lidar launch dimmer of claim 7, further comprising a base, wherein the positioning assembly, the multi-axis robot, the detection assembly, and the dispensing assembly are all mounted on the base.

9. The lidar transmission light regulating machine of claim 7 or 8, wherein the dispensing assembly comprises a displacement assembly, the second vision camera, a dispensing valve, and an ultraviolet lamp, and wherein the second vision camera, the dispensing valve, and the ultraviolet lamp are all mounted on the displacement assembly.

10. The lidar transmission light regulating machine of claim 9, wherein the displacement assembly comprises two sliding seats, a second sliding table and a third sliding table, sliding rails are arranged on the two sliding seats, the sliding rails are parallel to the first direction, the sliding of the second sliding table is arranged on the sliding rails, the second sliding table comprises a second sliding block, the second sliding block can slide along the third direction, the third sliding table is arranged on the second sliding block, the third sliding table comprises a third sliding block, the third sliding block can slide along the second direction, and the second vision camera, the dispensing valve and the ultraviolet lamp are all arranged on the third sliding block;

the first direction, the second direction and the third direction are perpendicular to each other.