Laser radar emission dimmer

Abstract

The application provides a laser radar emission dimmer, and relates to the field of laser debugging.The laser radar emission dimmer comprises a positioning assembly, a multi-axis robot, a detection assembly and a control system, wherein the positioning assembly, the multi-axis robot and the detection assembly are connected with the control system respectively, the detection assembly is arranged on the light-emitting side of the lens assembly, the positioning assembly is used for placing and clamping the lens assembly, the multi-axis robot is used for collecting a calibration image of the lens assembly and the positioning assembly and collecting a position image of the optical fiber head and the lens assembly, and the calibration image and the position image are sent to the control system, the control system controls the positioning assembly to position and adjust the lens assembly, controls the multi-axis robot to adjust the position of the optical fiber head, and realizes automatic dimming of the optical fiber head and the lens assembly.The application can improve the problems of low manual dimming efficiency and uncontrollable quality.

Description

Technical Field

[0001] This application relates to the field of laser tuning, and more particularly to a laser radar transmitter tuner. Background Technology

[0002] The transmitting part of a lidar includes a fiber optic head and a lens assembly. Ideally, the laser emitted from the fiber optic head is emitted into the detection environment through the center of the lens assembly. However, due to manufacturing errors in the fiber optic head and lens assembly, it cannot be guaranteed that the laser emitted from the fiber optic head of each lidar will be emitted through the center of the lens assembly. Therefore, during the production process of lidar, it is necessary to adjust the emission of the fiber optic head and lens assembly.

[0003] In existing technologies, manual dimming is generally used. Specifically, a clamp is used to hold the fiber optic head, and the position of the fiber optic head is adjusted by a three-dimensional manual adjustment frame to align it with the center of the lens assembly to complete the dimming. However, manual dimming is inefficient and the quality is uncontrollable. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a laser radar transmitter dimming machine, which aims to solve the technical problems of low efficiency and uncontrollable quality of manual dimming in the prior art.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows:

[0006] This application provides a lidar emitting dimming device. The emitting part of the lidar includes a lens assembly and an optical fiber head. The lidar emitting dimming device 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 disposed on the light-emitting side of the lens assembly. The positioning component is used to place and hold the lens assembly. The multi-axis robot is used to acquire calibration images of the lens assembly and the positioning component and send the calibration images to the control system. The control system determines the calibration difference between the lens assembly and the positioning component based on the calibration images, so that the positioning component adjusts its orientation according to the calibration difference to achieve positioning of the lens assembly.

[0007] After the lens assembly is positioned, the multi-axis robot is also used to acquire position images of the fiber optic head and the lens assembly, and send the position images to the control system. The control system determines the current position of the fiber optic head and the target dimming position of the lens assembly based on the position images, so that the multi-axis robot can grip the fiber optic head to the target dimming position.

[0008] The detection component is used to detect the spot shape of the laser beam emitted by the fiber optic head and send the spot shape to the control system. The control system calculates the displacement direction and displacement amount of the fiber optic head based on the spot shape, so that the multi-axis robot can grasp the fiber optic head and move it from the target dimming position according to the displacement direction, the displacement amount and the spot shape, so as to adjust the laser beam and complete the emission dimming of the lens assembly and the fiber optic head.

[0009] In one embodiment of the first aspect, the detection component includes a collimator and an infrared camera, wherein the collimator is used to test the linearity of the laser emitted from the fiber optic head, and the infrared camera is used to record, test, and analyze the spot shape of the laser.

[0010] In one embodiment of the first aspect, the positioning component includes a positioning fixture, a clamping mechanism, an adjusting mechanism, and a calibration block. The clamping mechanism is mounted on the positioning fixture and clamps the lens assembly. The positioning fixture is mounted on the adjusting mechanism and is used to place the lens assembly. The calibration block is disposed on one side of the positioning fixture.

[0011] In one embodiment of the first aspect, the multi-axis robot includes a robotic arm, a gripper, and a first vision camera. The gripper and the first vision camera are both mounted on the working end of the robotic arm. The gripper is used to grip the fiber optic head. The robotic arm has multiple degrees of freedom to control the gripper to perform multiple degrees of freedom movements.

[0012] The first vision camera captures and analyzes the positional difference between the lens assembly and the calibration block. The control system controls the adjustment mechanism to adjust the position of the positioning fixture so that the lens assembly is aligned with the calibration block. The detection component detects the spot shape of the laser emitted by the fiber optic head. The control system controls the multi-axis robot to adjust the position of the fiber optic head and performs automatic focusing, spot shape adjustment, spot center symmetry detection, and spot center position detection of the laser.

[0013] In one embodiment of the first aspect, the adjusting mechanism includes a first slide, a lifting platform, a pitching platform, and a rotating platform. The first slide includes a first slider, the lifting platform is mounted on the first slider, the pitching platform is mounted on the output end of the lifting platform, and the rotating platform is mounted on the pitching platform. The first slider can slide along a first direction, and the lifting platform can extend and retract along a second direction. The first direction is perpendicular to the second direction. The pitching platform can drive the positioning fixture to rotate about the first direction as an axis, and the rotating platform can drive the positioning fixture to rotate about the second direction as an axis.

[0014] In one embodiment of the first aspect, the clamping mechanism includes a clamping cylinder and a clamping block, the clamping cylinder being mounted on the positioning fixture, the clamping block being disposed at the output end of the clamping cylinder, and a receiving space for placing the lens assembly being formed between the clamping block and the positioning fixture.

[0015] In one embodiment of the first aspect, the lidar emission dimmer further includes a dispensing assembly, which is disposed opposite to the multi-axis robot on both sides of the positioning assembly, and the dispensing assembly is connected to the control system.

[0016] The dispensing assembly includes a second vision camera, which is used to acquire a dispensing image and a dispensing image of the lens assembly, and send the dispensing image to the control system. The control system determines the dispensing position of the lens assembly based on the dispensing image, and controls the dispensing assembly to move to the dispensing position to dispense adhesive to the fiber optic head and the lens assembly. The control system is also used to determine, based on the dispensing image, that when the dispensing effect of the fiber optic head and the lens assembly meets a preset effect, control the dispensing assembly to cure the dispensing adhesive on the fiber optic head and the lens assembly.

[0017] In one embodiment of the first aspect, the lidar transmitter dimming machine further includes a base, on which the positioning component, the multi-axis robot, the detection component, and the dispensing component are all mounted.

[0018] In one embodiment of the first aspect, the dispensing assembly includes a displacement assembly, a second vision camera, a dispensing valve, and an ultraviolet lamp, wherein the second vision camera, the dispensing valve, and the ultraviolet lamp are all mounted on the displacement assembly.

[0019] In one embodiment of the first aspect, the displacement assembly includes a slide block, a second slide table, and a third slide table. Two slide blocks are provided, each with a slide rail parallel to a first direction. The second slide table is slidably mounted on the slide rail and includes a second slider that can slide along a third direction. The third slide table is mounted on the second slider and includes a third slider that can slide along a second direction. The second vision camera, the dispensing valve, and the ultraviolet lamp are all mounted on the third slider.

[0020] The first direction, the second direction, and the third direction are perpendicular to each other.

[0021] Compared to existing technologies, the advantages of this application are as follows: This application proposes a laser radar emitter dimming device that can focus the fiber optic head and lens assembly. The laser radar emitter dimming device includes a positioning component, a multi-axis robot, a detection component, and a control system. The positioning component, multi-axis robot, and detection component are respectively connected to the control system. The multi-axis robot is used to acquire calibration images of the lens assembly and positioning component, as well as position images of the fiber optic head and lens assembly, and sends the calibration images and position images to the control system. The detection component is used to detect the spot shape of the laser beam emitted by the fiber optic head and sends 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 based on the calibration image, so that the positioning assembly adjusts its orientation according to the calibration difference to achieve the positioning of the lens assembly. Then, the control system determines the current position of the fiber optic head and the target dimming position of the lens assembly based on the position image, so that the multi-axis robot grasps the fiber optic head to the target dimming position. Finally, the control system calculates the displacement direction and displacement amount of the fiber optic head based on the light spot shape, so that the multi-axis robot grasps the fiber optic head and moves it from the target dimming position according to the displacement direction, displacement amount, and light spot shape to achieve the adjustment of the laser light spot, thereby completing the emission dimming of the lens assembly and the fiber optic head. The laser radar emission dimming machine provided in this application enables automatic dimming of the fiber optic head and the lens assembly, improving work efficiency and product quality. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 The following are schematic diagrams of the structure of the lidar transmitter dimming device in some embodiments of this application;

[0024] Figure 2 The following are schematic diagrams of the positioning components in some embodiments of this application;

[0025] Figure 3 The following are schematic diagrams of the structure of a multi-axis robot in some embodiments of this application;

[0026] Figure 4 The following are schematic diagrams of the structure of the detection component in some embodiments of this application;

[0027] Figure 5 The following are schematic diagrams of the dispensing assembly in some embodiments of this application;

[0028] Figure 6The flowchart of the laser debugging method in some embodiments of this application is shown. Figure 1 ;

[0029] Figure 7 The flowchart of the laser debugging method in some embodiments of this application is shown. Figure 2 ;

[0030] Figure 8 A control flowchart of a laser debugging method in some embodiments of this application is shown.

[0031] Explanation of key component symbols:

[0032] 100-LiDAR transmitter dimming unit; 110-Positioning component; 111-Positioning fixture; 112-Adjustment mechanism; 1121-First slide; 1122-Lifting platform; 1123-Pitch platform; 1124-Rotating platform; 113-Clamping mechanism; 1131-Clamping cylinder; 1132-Clamping block; 114-Calibration block; 120-Multi-axis robot; 121-Robotic arm; 122-Gripper; 123-Light source; 124-First vision camera; 130-Detection component; 131-Parallel light tube; 132-Infrared camera; 140-Dispensing component; 141-Slide; 142-Second slide; 143-Third slide; 144-Dispensing valve; 145-Second vision camera; 146-Ultraviolet lamp; 150-Base. Detailed Implementation

[0033] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying 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 with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0034] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0036] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0037] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0038] This application provides a lidar transmitter dimming device 100 for laser emission adjustment. The lidar transmitter dimming device 100 provided by this application can achieve automatic focusing of the fiber optic head and the transmitting lens, ensuring the emitted laser reaches its optimal state, thereby improving work efficiency and product quality.

[0039] Combination Figure 1 and Figure 8 As shown, an embodiment of this application provides a lidar transmitter dimming machine 100. The transmitting part of the lidar includes a lens assembly and an optical fiber head. The lidar transmitter dimming machine 100 includes a positioning assembly 110, a multi-axis robot 120, a detection assembly 130, and a control system.

[0040] 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 set on the light-emitting side of the lens component. The positioning component 110 is used to place and hold the lens component, and the multi-axis robot 120 is used to acquire calibration images of the lens component and the positioning component 110 and send the calibration images to the control system. The control system determines the calibration difference between the lens component and the positioning component 110 according to the calibration images, so that the positioning component 110 can adjust its orientation according to the calibration difference to achieve the positioning of the lens component.

[0041] After the lens assembly is positioned, the multi-axis robot 120 is also used to acquire position images of the fiber optic head and the lens assembly, and send the position images to the control system. The control system determines the current position of the fiber optic head and the target dimming position of the lens assembly based on the position images, so that the multi-axis robot 120 can grip the fiber optic head to the target dimming position.

[0042] The detection component 130 is used to detect the shape of the laser spot emitted by the fiber optic head and send the shape of the spot to the control system. The control system calculates the displacement direction and displacement amount of the fiber optic head according to the shape of the spot, so that the multi-axis robot 120 can grasp the fiber optic head and move from the target dimming position according to the displacement direction, displacement amount and spot shape, so as to adjust the laser spot and complete the emission dimming of the lens assembly and the fiber optic head.

[0043] This application, through the setup of positioning component 110, multi-axis robot 120, detection component 130 and control system, can realize automatic positioning of lens component, automatic focusing of fiber head and lens component, and automatic adjustment of laser spot shape, and complete the emission dimming of lens component and fiber head.

[0044] like Figure 4 As shown, in some embodiments, the detection component 130 includes a collimator 131 and an infrared camera 132. The collimator 131 is used to check the linearity of the laser emitted from the fiber optic head, and the infrared camera 132 is used to record, check and analyze the laser spot shape.

[0045] The detection component 130 can receive laser signals and perform feedback analysis. After the fiber optic head is connected, the laser signal emitted by the fiber optic head is received by the detection component 130. According to the preset parameters, the smoothness of the laser optical path is judged, and the multi-axis robot arm is used to fine-tune it again so that the laser reaches the optimal state and the fiber optic head is debugged.

[0046] The collimator 131 can provide a highly linear circular light beam over long distances, with minimal change in beam size as the distance changes. The collimator 131's visual algorithm provides real-time feedback on the beam shape, indicating the theoretically required adjustment direction and amount of displacement. A multi-axis robot 120 then grips the fiber optic head and performs the displacement to achieve automatic focusing.

[0047] An infrared camera 132 is installed between the positioning component 110 and the collimator 131. It can provide feedback on the laser spot imaging effect and transmit it to the control system. The control system controls the multi-axis robot 120 to adjust the position of the fiber optic head and finally provide feedback on the correct spot imaging shape, thus completing the dimming of the fiber optic head and lens assembly.

[0048] like Figure 2 As shown, in some embodiments, the positioning component 110 includes a positioning fixture 111, a clamping mechanism 113, an adjusting mechanism 112, and a calibration block 114. The clamping mechanism 113 is mounted on the positioning fixture 111 and clamps the lens assembly. The positioning fixture 111 is mounted on the adjusting mechanism 112. The positioning fixture 111 is used to place the lens assembly. The calibration block 114 is disposed on one side of the positioning fixture 111.

[0049] Under the constraint of the clamping mechanism 113, the lens assembly is fixed on the positioning fixture 111. Since the positioning fixture 111 is mounted on the adjustment mechanism 112, the adjustment mechanism can adjust the positioning fixture 111 through the adjustment table in different adjustment directions, so that the lens assembly is in the preset calibration position.

[0050] In addition, the positioning fixture 111 is designed to mimic the shape of the lens assembly, so that when the lens assembly is installed on the positioning fixture 111, the positioning fixture 111 can fit completely against the side of the lens assembly, which facilitates the fixation of the lens assembly and improves the installation stability.

[0051] In some embodiments, a backlight 123 is provided on the side of the positioning fixture 111 near the rotary table 1124.

[0052] By setting the backlight 123, when adjusting the lens assembly and focusing the fiber optic head, the backlight 123 can be turned on to increase the brightness at the positioning fixture 111, so as to ensure the adjustment accuracy of the lens assembly.

[0053] like Figure 3 As shown, the multi-axis robot 120 includes a robotic arm 121 and a gripper 122. The gripper 122 is mounted on the working end of the robotic arm 121 and is used to grip the fiber optic head. The robotic arm 121 has multiple degrees of freedom to control the gripper 122 to perform multiple degrees of freedom movements.

[0054] The multi-axis robot 120 can perform movements 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 optic head to the focusing position with the lens assembly, thereby achieving automatic focusing between the fiber optic head and the lens assembly and improving the laser adjustment efficiency.

[0055] The first vision camera 124 captures and analyzes the positional difference between the lens assembly and the calibration block 114. The control system controls the adjustment mechanism 112 to adjust the position of the positioning fixture 111 so that the lens assembly is aligned with the calibration block 114. The detection component 130 detects the spot shape of the laser emitted by the fiber optic head. The control system controls the multi-axis robot 120 to adjust the position of the fiber optic head and perform automatic laser focusing, spot shape adjustment, spot center symmetry detection, and spot center position detection.

[0056] The calibration block 114 is a cuboid structure with its edges parallel to the first, second, and third directions, respectively, serving as an orientation reference for the lens assembly. The first vision camera 124 can capture and determine the orientation of the lens assembly. When the orientation of the lens assembly in the first, second, or third direction is not aligned with the edge of the calibration block 114, and a deviation occurs in a certain direction, the corresponding adjustment platform of the adjustment mechanism 112 is used for adjustment until the difference between the lens assembly and the calibration block 114 is within a set range.

[0057] In this embodiment, the multi-axis robot 120 can be a six-axis robot. It has advantages such as good flexibility, large working range, good obstacle avoidance performance, no moving joints, good joint sealing performance, low joint driving force, and low energy consumption.

[0058] In some embodiments, a light source 123 is provided at the lens of the first visual camera 124.

[0059] By setting the light source 123, lighting is provided during the operation 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 component is more accurate.

[0060] In some embodiments, the adjustment mechanism 112 includes a first slide 1121, a lifting platform 1122, a pitch platform 1123, and a rotary platform 1124. The first slide 1121 includes a first slider, the lifting platform 1122 is mounted on the first slider, the pitch platform 1123 is mounted on the output end of the lifting platform 1122, and the rotary platform 1124 is mounted on the pitch platform 1123. The first slider can slide along a first direction, the lifting platform 1122 rotates along its axis in the first direction, and the rotary platform 1124 can drive the positioning fixture 111 to rotate around its axis in a second direction.

[0061] Before focusing with the fiber optic head, the lens assembly needs to be fixed in a preset position to facilitate subsequent laser dimming. By setting the first slide 1121, the lifting platform 1122 mounted on the first slide can be moved in the first direction, thereby adjusting the position of the pitch platform 1123, the rotary platform 1124, the positioning fixture 111, and the lens assembly in the first direction.

[0062] The lifting platform 1122 can be a pneumatic cylinder or a hydraulic cylinder, with its output end located on the side away from the first slider. By setting the lifting platform 1122, the height of the pitch platform 1123 can be adjusted in the second direction, thereby adjusting the position of the rotary table 1124, the positioning fixture 111, and the lens assembly in the second direction.

[0063] The tilt stage 1123 includes a platform capable of arc-shaped movement, on which the rotary stage 1124 is mounted. By setting the tilt stage 1123, the rotary stage 1124 can be rotated about a first direction as an axis to adjust the angle of the lens assembly in a second direction.

[0064] The rotary table 1124 includes a rotatable mounting platform located on the side away from the pitch stage 1123. The positioning fixture 111 is mounted on the mounting platform. By setting the rotary table 1124, the positioning fixture 111 can be rotated about the second direction as an axis, thereby adjusting the angle of the lens assembly in the first direction.

[0065] In some embodiments, the clamping mechanism 113 includes a clamping cylinder 1131 and a clamping block 1132. The clamping cylinder 1131 is mounted on the positioning fixture 111, and the clamping block 1132 is disposed at the output end of the clamping cylinder 1131. A receiving space for placing the lens assembly is formed between the clamping block 1132 and the positioning fixture 111.

[0066] The clamping cylinder 1131 is vertically mounted on the side of the positioning fixture 111. The clamping block 1132 is parallel to the end face of the positioning fixture 111 and is fixedly connected to the output end of the clamping cylinder 1131. After the lens assembly is placed on the positioning fixture 111, the clamping cylinder 1131 retracts, and the clamping block 1132 abuts against the lens assembly, pressing the lens assembly downwards to fix it in place. This ensures that the lens assembly and the positioning fixture 111 remain relatively stationary when the subsequent adjustment mechanism 112 adjusts the positioning fixture 111.

[0067] like Figure 5 As shown, in some embodiments, the lidar transmitter dimming machine 100 further includes a dispensing assembly 140, which is disposed opposite to the multi-axis robot 120 on both sides of the positioning assembly 110. The dispensing assembly 140 is connected to the control system and is used to bond the dimmed fiber head to the lens assembly.

[0068] After the fiber optic head and lens assembly are adjusted, glue is injected into the dispensing area using the dispensing assembly 140 to bond the fiber optic head to the lens assembly, completing the fiber optic head assembly. Simultaneously, the dispensing assembly 140 is positioned opposite the multi-axis robot 120 to facilitate their movement and avoid limited workspace.

[0069] 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, all of which are mounted on the displacement assembly.

[0070] The second vision camera 145 is used to acquire the image of the lens assembly to be glued and the glued image, and send the image to be glued to the control system. The control system determines the glued position of the lens assembly based on the image to be glued, and controls the glued assembly 140 to move to the glued position to dispense glue to the fiber head and the lens assembly. The control system is also used to determine, based on the glued image, that when the glued effect of the fiber head and the lens assembly meets the preset effect, control the glued assembly 140 to cure the glued glue on the fiber head and the lens assembly.

[0071] The second vision camera 145 can acquire and analyze the dispensing position of the fiber optic head and lens assembly, and feed it back to the PLC (Programmable Logic Controller) system. The PLC issues a command to make the displacement component drive the dispensing valve 144 to the corresponding dispensing position to complete the dispensing. The second vision camera 145 judges the dispensing effect, and after confirming the effect, moves the ultraviolet lamp 146 to the dispensing position to complete the curing of the glue.

[0072] In some embodiments, the displacement assembly includes a slide block 141, a second slide table 142, and a third slide table 143. Two slide blocks 141 are provided, each with a slide rail parallel to a first direction. The second slide table 142 is slidably disposed on the slide rail and includes a second slider that can slide along a third direction. The third slide table 143 is mounted on the second slider and includes a third slider that can slide along a second direction. The second vision camera 145, the dispensing valve 144, and the ultraviolet lamp 146 are all mounted on the third slider.

[0073] The first, second, and third directions are perpendicular to each other. By setting up the slide 141, the second slide 142, and the third slide 143, the positions of the second vision camera 145, the dispensing valve 144, and the ultraviolet lamp 146 can be adjusted in three directions, ensuring the accuracy of the dispensing operation and making adjustment convenient.

[0074] In some embodiments, the lidar transmitter dimming machine 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 mounted.

[0075] The positioning component 110, multi-axis robot 120, detection component 130, and dispensing component 140 can be mounted on the base 150 by means of bolts or other methods to form an integrated setup. Multiple casters can be installed on the bottom of the base 150 to facilitate the overall movement of the dimmer. At the same time, the base 150 isolates each working component from the ground, preventing damage to the equipment due to moisture or other hidden factors.

[0076] Combination Figure 6 and Figure 7 As shown, embodiments of this application also provide a laser debugging method, which includes:

[0077] S10, fix the lens assembly onto the positioning fixture 111.

[0078] The lens assembly can be placed on the positioning fixture 111 manually or by a robotic arm. After the lens assembly is adapted to the positioning fixture 111, the clamping cylinder 1131 controls the clamping block 1132 to fix the lens assembly.

[0079] S20, the orientation of the lens assembly is adjusted using the adjustment mechanism 112 so that the lens assembly is aligned with the calibration block 114.

[0080] The calibration block 114 is disposed on one side of the positioning component 110, and the calibration block 114 has a cuboid structure with its edges parallel to the first, second, and third directions, respectively. The first vision camera 124 located on the multi-axis manipulator captures the orientation of the lens assembly and feeds it back to the control system. The control system analyzes the data using a vision algorithm to detect whether the lens assembly is in a horizontal state, determines the difference between the lens assembly and the calibration block 114 in the first, second, and third directions, and then controls the adjustment mechanism 112 to adjust the positioning component 110 so that the difference between the lens assembly and the calibration block 114 is within a set range.

[0081] Specifically, the positioning fixture 111 can be moved in the first direction by the first slide 1121, moved in the second direction by the lifting platform 1122, rotated around the first direction by the pitch platform 1123 to adjust the angle of the lens assembly in the second direction, and rotated around the second direction by the rotary platform 1124 to adjust the angle of the lens assembly in the first direction.

[0082] The S30 uses a multi-axis robot 120 to grip the fiber optic head and focus it onto the lens assembly.

[0083] After the multi-axis robot 120 picks up the fiber optic head and places it in the dimming position, the collimator 131 can provide real-time feedback on the laser emission angle based on the vision algorithm, give the theoretical displacement direction and displacement amount that the fiber optic head needs to be adjusted, and feed this feedback to the control system. The control system then controls the multi-axis robot 120 to complete the displacement adjustment of the fiber optic head based on the visual feedback data, and complete the automatic focusing.

[0084] S40, adjusts the shape of the light spot imaging.

[0085] After focusing, the infrared camera 132 feeds back the shape of the light spot to the control system. The control system then manipulates the multi-axis robot 120 to adjust the fiber optic head, bringing the visually fed-back light spot to its optimal shape. Next, the light spots are symmetrically distributed for a central symmetry check, and finally, each light spot is positioned at the center for a central check. If the central check does not meet the preset standard, the light spot shape is readjusted, and the central symmetry and central checks are repeated until the light spot detection is satisfactory. The final light spot imaging effect indicates whether the optical path is clear. If the light spot imaging shape is correct, the positional relationship between the fiber optic head and the lens is correct, completing the light adjustment.

[0086] S50: When the light spot imaging shape meets the preset conditions, the fiber optic head is bonded to the lens assembly.

[0087] After the dimming is completed, the second vision camera 145 uses an algorithm to analyze and determine the dispensing position information of the fiber head and lens assembly, and feeds it back to the PLC system. The LC system issues a command to make the displacement component drive the dispensing valve 144 to the dispensing position to complete the dispensing.

[0088] Specifically, the slide block 141 is provided with a slide rail parallel to the first direction, which allows the dispensing valve 144 to move in the first direction. The second slide block 142 can control the dispensing valve 144 to move in the third direction, and the third slide block 143 can control the dispensing valve 144 to move in the second direction.

[0089] S60, the second vision camera 145 judges the dispensing effect, and after confirmation, the ultraviolet lamp 146 is used to cure the glue.

[0090] After dispensing is completed, the second vision camera 145 captures the dispensing location information again to judge the dispensing effect. If the dispensing effect does not meet the preset requirements, the dispensing valve 144 is operated to dispense again. After the dispensing effect is qualified, ultraviolet light is used to irradiate the adhesive at the dispensing location to finally cure the adhesive, and the fiber optic head is assembled with the lens assembly. After assembly, the lens assembly is removed manually or by a robotic arm and placed into a storage container.

[0091] The laser debugging method provided in this application can reduce the launch and debugging time of lidar, increase the productivity per person-hour, and make the light tuning performance parameters controllable and traceable with better consistency. When applied to automobiles, it is more in line with automotive standards.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A laser radar launch dimmer, the launch portion of the laser radar comprising a lens assembly and a fiber optic head, characterized by, The laser radar emission dimmer comprises a positioning assembly, a multi-axis robot, a detection assembly and a control system, the positioning assembly, the multi-axis robot and the detection assembly are connected with the control system respectively, and the detection assembly is arranged on the light emitting side of the lens assembly; the positioning assembly is used for placing and clamping the lens assembly, the multi-axis robot is used for collecting a calibration image of the lens assembly and the positioning assembly, and sending the calibration image to the control system, the control system determines a calibration difference between the lens assembly and the positioning assembly according to the calibration image, so that the positioning assembly adjusts the orientation according to the calibration difference to realize the positioning of the lens assembly; After the positioning of the lens assembly, the multi-axis robot is also used for collecting a position image of the optical fiber head and the lens assembly, and sending the position image to the control system, 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 image, so that the multi-axis robot clamps the optical fiber head to the target dimming position; The detection assembly is used for detecting the spot shape of the laser spot emitted by the optical fiber head, and sending the spot shape to the control system, the control system calculates the displacement direction and displacement amount of the optical fiber head according to the spot shape, so that the multi-axis robot clamps the optical fiber head to start displacement from the target dimming position according to the displacement direction, the displacement amount and the spot shape, to realize the adjustment of the laser spot, thereby completing the emission dimming of the lens assembly and the optical fiber head.

2. The ladar launch optical phasemodulator of claim 1, wherein, The detection assembly comprises a collimator and an infrared camera, the collimator is used for linearly testing the laser emitted by the optical fiber head, and the infrared camera is used for recording, testing and analyzing the spot shape of the laser.

3. The ladar launch optical phasemodulator 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 installed on the positioning jig and clamps the lens assembly, the positioning jig is installed 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 ladar launch optical phasemodulator of claim 3, wherein, The multi-axis robot comprises a mechanical arm, a clamping jaw and a first vision camera, the clamping jaw and the first vision camera are both installed on the working end of the mechanical arm, the clamping jaw is used for clamping the optical fiber head, and the mechanical arm has multiple degrees of freedom to control the clamping jaw to move in multiple degrees of freedom; The control system controls the adjusting mechanism to adjust the orientation of the positioning jig to align the lens assembly with the calibration block by capturing and analyzing the orientation difference between the lens assembly and the calibration block through the first vision camera, and controls the multi-axis robot to adjust the position of the optical fiber head and perform automatic focusing, spot shape adjustment, spot center symmetry detection and spot center position detection of the laser by detecting the spot shape of the laser emitted by the optical fiber head through the detection assembly.

5. The ladar launch optical phasemodulator of claim 3 or 4, wherein, The adjusting 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 installed on the first sliding block, the pitching table is installed on the output end of the lifting table, the rotating table is installed on the pitching table, the first sliding block can slide in a first direction, the lifting table can extend and retract in a second direction, the first direction is perpendicular to the second direction, the pitching table can drive the positioning jig to overturn with the first direction as the axis, and the rotating table can drive the positioning jig to rotate with the second direction as the axis.

6. The ladar launch optical phasemodulator of claim 3 or 4, wherein, The clamping mechanism comprises a clamping cylinder and a clamping block, the clamping cylinder is installed on the positioning jig, and the clamping block is arranged on the output end of the clamping cylinder, and a containing space for placing the lens assembly is formed between the clamping block and the positioning jig.

7. The ladar launch optical phasemodulator of claim 1, wherein, The laser radar emission light modulator further comprises a dispensing assembly, the dispensing assembly is arranged on the two sides of the positioning assembly opposite to the multi-axis robot, and the dispensing assembly is connected with the control system. The dispensing assembly comprises a second visual camera, the second visual camera is used for collecting a dispensing image and a dispensing image of the lens assembly, and the control system is used for determining a dispensing position of the lens assembly according to the dispensing image, controlling the dispensing assembly to move to the dispensing position to dispense the optical fiber head and the lens assembly, and the control system is further used for judging whether the dispensing effect of the optical fiber head and the lens assembly meets a preset effect according to the dispensing image, and controlling the dispensing assembly to solidify the dispensing of the optical fiber head and the lens assembly.

8. The ladar launch optical phasemodulator of claim 7, wherein, The laser radar emission light modulator further comprises a base, and the positioning assembly, the multi-axis robot, the detection assembly and the dispensing assembly are all installed on the base.

9. The ladar launch optical phasemodulator of claim 7 or 8, wherein, The dispensing assembly comprises 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 lamp are all installed on the displacement assembly.

10. The ladar launch optical phasemodulator of claim 9, wherein, The displacement assembly comprises a sliding base, a second sliding table and a third sliding table, the sliding base is provided with two sliding bases, the sliding bases are provided with sliding rails, the sliding rails are parallel to the first direction, the second sliding table is slidably arranged on the sliding rails, the second sliding table comprises a second sliding block, the second sliding block can slide in a third direction, the third sliding table is installed on the second sliding block, the third sliding table comprises a third sliding block, the third sliding block can slide in the second direction, and the second visual camera, the dispensing valve and the ultraviolet lamp are all installed on the third sliding block. The first direction, the second direction and the third direction are perpendicular to each other.

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