LiDAR Automatic Calibration Inspection Device

Abstract

The present invention discloses a lidar automatic calibration inspection device, aiming to provide a lidar automatic calibration inspection device with high calibration accuracy. The present invention includes a machine table, on which a first camera module, a first X-axis moving module, a second X-axis moving module and a test bench are arranged. A first rotating mechanism is arranged on the first X-axis moving module, a six-axis mechanism is arranged on the first rotating mechanism, and a first gripper is arranged on the six-axis mechanism. A first Y-axis moving module is arranged on the second X-axis moving module, a second rotating mechanism is arranged on the first Y-axis moving module, a second camera module and a light spot receiving glass plate are arranged on the second rotating mechanism. The second camera module cooperates with one side of the light spot receiving glass plate, and the other side of the light spot receiving glass plate cooperates with the test bench. The present invention is applied to the technical field of automatic calibration devices.

Description

Technical Field

[0001] The present invention relates to a lidar automatic calibration inspection device. Background Art

[0002] The production of the micro-optical components of the existing lidar adopts a semi-automatic test production process: the software controls the motor to perform tests at the calibration test positions, manually adjusts the prism angle according to the test results, and performs UV curing after calibration. However, such a production process has the following disadvantages: the manual adjustment of the prism angle in the semi-automatic test is slow, inaccurate, and easy to contaminate, which is likely to cause products that have been dispensed but failed the test, and they need to be taken down for cleaning, further reducing the production capacity. Moreover, if the cured products fail the test, only the products can be discarded, wasting materials and increasing the production cost. In a Chinese patent with the publication number CN210488219U, it discloses a prism debugging device, which includes a position adjustment component and a calibration component; the position adjustment component is used to clamp the prism and adjust the position of the prism; the light emitted by the calibration component returns to the calibration component after being processed by the prism; the calibration component is used to monitor the image after the prism is processed. Obviously, this patent has the condition of low calibration accuracy. Therefore, there is a need to develop a lidar automatic calibration inspection device with high calibration accuracy at present. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a lidar automatic calibration inspection device with high calibration accuracy.

[0004] The technical solution adopted by the present invention is as follows: the present invention includes a machine table, on which a first camera module, a first X-axis movement module, a second X-axis movement module, and a test table are arranged. A first rotation mechanism is arranged on the first X-axis movement module, a six-axis mechanism is arranged on the first rotation mechanism, a first clamping jaw is arranged on the six-axis mechanism, a first Y-axis movement module is arranged on the second X-axis movement module, a second rotation mechanism is arranged on the first Y-axis movement module, a second camera module and a light spot receiving glass plate are arranged on the second rotation mechanism, the second camera module is matched with one side of the light spot receiving glass plate, the other side of the light spot receiving glass plate is matched with the test table, and the first clamping jaw, the first camera module, and the second camera module are all matched with the test table.

[0005] Further, the second rotation mechanism is further provided with a first Z-axis linear motion module, a beam quality analyzer is arranged in cooperation with the first Z-axis linear motion module, and the beam quality analyzer is matched with the light spot receiving glass plate.

[0006] Further, the first camera module includes a camera travel adjustment frame, a camera assembly is provided on the camera travel adjustment frame, and the camera assembly is fixed to the camera travel adjustment frame by a locking member.

[0007] Further, a dispensing mechanism and a curing mechanism are further provided on the six-axis mechanism, and both the dispensing mechanism and the curing mechanism cooperate with the test bench.

[0008] The beneficial effects of the present invention are as follows: Compared with the deficiencies of the prior art, in the present invention, during calibration, the first camera module takes pictures and locates the product on the test bench. Further, the first jaw moves the prism onto the product on the test bench. Further, the light on the test bench is projected onto the prism. Further, the second X-axis moving module and the first Y-axis moving module drive the second rotating mechanism, the second camera module, and the light spot receiving glass plate to move to the corresponding positions. Further, the second rotating mechanism rotates the second camera module and the light spot receiving glass plate, so as to accurately find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate receives the light to form a light spot, which is confirmed by taking pictures with the second camera module. The present invention first performs preliminary positioning on the prism through the second camera module and the light spot receiving glass plate, adjusts the angle of the prism through the six-axis mechanism and the first jaw at the same time, and further performs precise positioning through the beam quality analyzer, so as to complete automatic calibration. Therefore, the present invention has the advantage of high calibration accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is a three-dimensional structural schematic diagram of the first perspective of the present invention;

[0010] Figure 2 is a three-dimensional structural schematic diagram of the second perspective of the present invention;

[0011] Figure 3 is a three-dimensional structural schematic diagram of the third perspective of the present invention;

[0012] Figure 4 is Figure 3 a partial enlarged schematic diagram of part A of DETAILED DESCRIPTION OF THE EMBODIMENTS

[0013] As Figures 1 to 4As shown in the figure, in this embodiment, the present invention includes a machine table 1, on which a first camera module 2, a first X-axis movement module 3, a second X-axis movement module 4, and a test bench 5 are provided. A first rotation mechanism 6 is provided on the first X-axis movement module 3, a six-axis mechanism 7 is provided on the first rotation mechanism 6, and a first gripper 8 is provided on the six-axis mechanism 7. A first Y-axis movement module 9 is provided on the second X-axis movement module 4, a second rotation mechanism 10 is provided on the first Y-axis movement module 9, a second camera module 11 and a light spot receiving glass plate 12 are provided on the second rotation mechanism 10. The second camera module 11 cooperates with one side of the light spot receiving glass plate 12, and the other side of the light spot receiving glass plate 12 cooperates with the test bench 5. The first gripper 8, the first camera module 2, and the second camera module 11 all cooperate with the test bench 5. Compared with the deficiencies of the prior art, in the present invention, the first camera module 2 is configured to take pictures and position the products on the test bench 5, the first gripper 8 is configured to grab the prism onto the products on the test bench 5 for calibration, the first X-axis movement module 3 and the first rotation mechanism 6 are configured to horizontally move and rotate the first gripper 8, the six-axis mechanism 7 is configured to accurately adjust the angle of the prism on the first gripper 8, the light spot receiving glass plate 12 is configured to receive the light projected through the prism, and the second camera module 11 is configured to take pictures and confirm the light spots projected on the light spot receiving glass plate 12. During calibration, the first camera module 2 takes pictures and positions the products on the test bench 5. Further, the first gripper 8 moves the prism onto the products on the test bench 5. Further, the light of the test bench 5 is projected onto the prism. Further, the second X-axis movement module 4 and the first Y-axis movement module 9 drive the second rotation mechanism 10, the second camera module 11, and the light spot receiving glass plate 12 to move to the corresponding positions. Further, the second rotation mechanism 10 rotates the second camera module 11 and the light spot receiving glass plate 12 to find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate 12 receives the light to form a light spot, which is confirmed by taking pictures with the second camera module 11, thereby completing the automatic calibration, making the present invention have the advantage of high calibration accuracy.

[0014] In this embodiment, the second rotation mechanism 10 is further provided with a first Z-axis linear motion module 13. A beam quality analyzer 14 is cooperatively arranged on the first Z-axis linear motion module 13, and the beam quality analyzer 14 cooperates with the light spot receiving glass plate 12. The beam quality analyzer 14 is configured to detect and calculate light. It calculates based on the light spot formed by the light on the light spot receiving glass plate 12 and the light spot received by the second camera module 11. If it is confirmed to be intact, the product is unloaded. Therefore, the present invention first performs a preliminary positioning of the prism through the second camera module 11 and the light spot receiving glass plate 12, adjusts the angle of the prism through the six-axis mechanism 7 and the first gripper 8 at the same time, and further performs a fine positioning through the beam quality analyzer 14, thereby completing automatic calibration, making the present invention have the advantage of high calibration accuracy.

[0015] In this embodiment, the first camera module 2 includes a camera stroke adjustment frame 15. A camera assembly 16 is arranged on the camera stroke adjustment frame 15, and the camera assembly 16 is fixed to the camera stroke adjustment frame 15 through a locking member 17.

[0016] In this embodiment, a dispensing mechanism 18 and a curing mechanism 19 are further arranged on the six-axis mechanism 7. Both the dispensing mechanism 18 and the curing mechanism 19 cooperate with the test bench 5. During use, the dispensing mechanism 18 dispenses glue on the product on the test bench 5. Further, the first gripper 8 places the prism on the product for automatic calibration. After the calibration is completed, the glue is cured through the curing mechanism 19. After the curing is completed, light is applied for detection to prevent the calibration accuracy from being affected during the curing process.

[0017] Although the embodiments of the present invention are described with actual solutions, they do not constitute a limitation to the meaning of the present invention. For those skilled in the art, modifications to its implementation solutions according to this specification and combinations with other solutions are obvious.

Claims

1. An automatic calibration inspection device for a lidar, characterized in that: It includes a machine table (1), on which a first camera module (2), a first X-axis moving module (3), a second X-axis moving module (4) and a test bench (5) are arranged. A first rotating mechanism (6) is arranged on the first X-axis moving module (3), a six-axis mechanism (7) is arranged on the first rotating mechanism (6), and a first clamping jaw (8) is arranged on the six-axis mechanism (7). A first Y-axis moving module (9) is arranged on the second X-axis moving module (4), a second rotating mechanism (10) is arranged on the first Y-axis moving module (9), a second camera module (11) and a light spot receiving glass plate (12) are arranged on the second rotating mechanism (10). The second camera module (11) is matched with one side of the light spot receiving glass plate (12), and the other side of the light spot receiving glass plate (12) is matched with the test bench (5). The first clamping jaw (8), the first camera module (2) and the second camera module (11) are all matched with the test bench (5). The first clamping jaw (8) moves the prism to the product on the test bench (5). Further, the light of the test bench (5) is projected onto the prism. Further, the second X-axis moving module (4) and the first Y-axis moving module (9) drive the second rotating mechanism (10), the second camera module (11) and the light spot receiving glass plate (12) to move to the corresponding positions. Further, the second rotating mechanism (10) rotates the second camera module (11) and the light spot receiving glass plate (12) to accurately find the light spot position according to the light projected by the prism. At this time, the light spot receiving glass plate (12) receives the light to form a light spot, and the second camera module (11) takes a picture for confirmation, thus completing the automatic calibration.

2. The lidar automatic calibration inspection device according to claim 1, characterized in that: The second rotating mechanism (10) is further provided with a first Z-axis linear motion module (13), and a beam quality analyzer (14) is arranged in cooperation with the first Z-axis linear motion module (13). The beam quality analyzer (14) is matched with the light spot receiving glass plate (12).

3. The lidar automatic calibration inspection device according to claim 1, characterized in that: The first camera module (2) includes a camera stroke adjusting frame (15), and a camera assembly (16) is arranged on the camera stroke adjusting frame (15). The camera assembly (16) is fixed on the camera stroke adjusting frame (15) through a locking member (17).

4. The lidar automatic calibration inspection device according to claim 1, characterized in that: A dispensing mechanism (18) and a curing mechanism (19) are further arranged on the six-axis mechanism (7). The dispensing mechanism (18) and the curing mechanism (19) are both matched with the test bench (5).

Images