LiDAR receiver dimming equipment

Abstract

This application provides a lidar receiving and dimming device, relating to the field of laser adjustment. The lidar receiving and dimming device includes a positioning component, a multi-axis robot, a detection component, a locking component, and a control system. The positioning component, multi-axis robot, locking component, and detection component are all connected to the control system. The positioning component is used to place and fix the receiving module. The multi-axis robot is used to acquire calibration images of the receiving module and the positioning component, as well as position images of the receiving module. The detection component is used to detect the received images of the receiving element and the corresponding reflected light spot. The control system determines the position of the receiving bracket and the locking point based on the position images, and determines the distance between the receiving element and the reflected light spot based on the received images. The control system then controls the multi-axis robot to adjust the position of the receiving module, ultimately completing the dimming alignment of the receiving module. This application can improve the problems of low efficiency and uncontrollable quality in manual dimming.

Description

Technical Field

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

[0002] The receiving module of a lidar includes a receiving bracket, a receiving circuit board, and receiving components. The receiving circuit board is mounted on the receiving bracket, and the receiving components are mounted on the receiving circuit board. Due to installation errors in both the receiving circuit board and the receiving components, and between the receiving components and the receiving circuit board, the receiving components may not receive the reflected light spot. Therefore, during the production process of lidar, it is necessary to adjust the receiving module's brightness.

[0003] Currently, all existing lidar systems use manual dimming. Based on the imaging of the collimator system, the human eye judges the position and distance between the receiving element and the reflected light spot. The operator manually adjusts the displacement of the receiving circuit board in the XYZ axes using a three-dimensional adjustment frame 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 receiving dimming device, 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] In a first aspect, embodiments of this application provide a laser radar receiving dimming device. The receiving module of the laser radar includes a receiving bracket, a receiving circuit board, and receiving components. The laser radar receiving dimming device includes a control system and a positioning component, a multi-axis robot, a detection component, and a locking component, which are respectively connected to the control system.

[0007] The positioning component is used to place and fix the receiving module. The multi-axis robot is used to collect calibration images of the receiving module and the positioning component, and send the calibration images to the control system. The control system determines the calibration difference between the receiving module and the positioning component based on the calibration images, so that the positioning component can adjust its orientation according to the calibration difference to achieve positioning of the receiving module.

[0008] After the receiving module is positioned, the multi-axis robot is also used to acquire the position image of the receiving module and send the position image to the control system. The control system determines the first current position of the receiving bracket, the first locking position of the receiving bracket, the second current position of the receiving circuit board, and the second locking position of the receiving circuit board based on the position image. The detection component is used to detect the received image of the receiving element and the reflected light spot received by the corresponding receiving element and send the received image to the control system. The control system determines the distance between the receiving element and the reflected light spot based on the received image.

[0009] The control system controls the multi-axis robot to grasp the receiving bracket according to the first current position, controls the locking component to release the receiving bracket according to the first locking position, controls the multi-axis robot to move according to the received image, achieves automatic focusing, and then controls the locking component to lock the receiving bracket according to the first locking position; the control system controls the multi-axis robot to grasp the receiving circuit board according to the second current position, controls the locking component to release the receiving circuit board according to the second locking position, controls the multi-axis robot to perform automatic light adjustment and alignment according to the distance, and then controls the locking component to lock the receiving circuit board according to the second locking position.

[0010] In one embodiment, after the locking component locks the receiving circuit board, the detection component re-inspects the received image. If it fails, automatic dimming is performed again until the detection component re-inspects it and it passes.

[0011] In one embodiment, the detection component includes a collimator and an infrared camera. The collimator is used to provide feedback on the focusing degree between the receiving module and the lidar, and the infrared camera is used to measure the distance between the receiving component and the reflected light spot.

[0012] In one embodiment, the positioning component includes a fixing plate, an adjustment mechanism, a positioning fixture, and a calibration block. The fixing plate is mounted on the positioning fixture, and the receiving module is placed on the fixing plate. The calibration block is disposed on one side of the adjustment mechanism, and the positioning fixture is fixed on the adjustment mechanism.

[0013] In one embodiment, the adjustment mechanism includes a first slide, a lifting platform, a pitch platform, and a rotary platform. The first slide includes a first slider, the lifting platform is mounted on the first slider, the pitch platform is mounted on the output end of the lifting platform, and the rotary platform is mounted on the pitch 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 pitch platform can drive the receiving module to rotate about the first direction as an axis, and the rotary platform can drive the receiving module to rotate about the second direction as an axis.

[0014] In one embodiment, 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 receiving bracket or the receiving circuit board. The robotic arm has multiple degrees of freedom to control the gripper to perform multiple degrees of freedom movements.

[0015] In one embodiment, the calibration block has edges that are parallel to a first direction, a second direction, and a third direction, respectively, and the first direction, the second direction, and the third direction are perpendicular to each other;

[0016] Using the calibration block as an orientation reference, the first visual camera is used to analyze and provide feedback on the orientation difference between the receiving module and the calibration block.

[0017] In one embodiment, the locking assembly includes a first locking mechanism and a second locking mechanism, which are respectively disposed opposite to each other on both sides of the positioning assembly. The first locking mechanism is used to fix or loosen the receiving bracket, and the second locking mechanism is used to fix or loosen the receiving circuit board.

[0018] In one embodiment, the first locking mechanism includes a first displacement mechanism, a first electric screwdriver, and a second vision camera, wherein the first electric screwdriver and the second vision camera are both mounted on the first displacement mechanism;

[0019] The second locking mechanism includes a second displacement mechanism, a second electric screwdriver, and a third vision camera, with the second electric screwdriver and the third vision camera both mounted on the second displacement mechanism.

[0020] In one embodiment, the lidar receiving dimming device further includes a base, on which the positioning component, the multi-axis robot, the detection component, and the locking component are all mounted.

[0021] Compared to existing technologies, the advantages of this application are as follows: This application proposes a laser radar receiving and dimming device, which can be used for dimming and alignment of the receiving module. The laser radar receiving and dimming device includes a positioning component, a multi-axis robot, a detection component, a locking component, and a control system. The positioning component is used to place and fix the receiving module. The multi-axis robot is used to acquire calibration images of the receiving module and the positioning component, as well as position images of the receiving module, and sends the calibration images to the control system. The detection component is used to detect the receiving element and the received image of the corresponding reflected light spot, and sends the received image to the control system. In this way, the control system determines the position of the receiving bracket and the locking point based on the position image, and determines the distance between the receiving element and the reflected light spot based on the received image. The control system then controls the multi-axis robot to adjust the position of the receiving module, ultimately completing the dimming and alignment of the receiving module. This achieves automatic dimming and alignment of the receiving element, 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 a lidar receiving 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 A schematic diagram of the structure of the first locking mechanism in some embodiments of this application is shown;

[0028] Figure 6 A schematic diagram of the structure of the second locking mechanism in some embodiments of this application is shown;

[0029] Figure 7 The flowchart of the laser dimming method in some embodiments of this application is shown. Figure 1 ;

[0030] Figure 8The flowchart of the laser dimming method in some embodiments of this application is shown. Figure 2 ;

[0031] Figure 9 A control flowchart of a laser dimming method in some embodiments of this application is shown.

[0032] Explanation of key component symbols:

[0033] 100-LiDAR receiver dimming device; 110-Positioning component; 111-Positioning fixture; 112-Adjustment mechanism; 1121-First slide table; 1122-Lifting platform; 1123-Pitch platform; 1124-Rotating platform; 113-Fixing plate; 114-Calibration block; 120-Multi-axis robot; 121-Robotic arm; 122-Gripper; 123-First light source; 124-First vision camera; 130-Detection component; 131- Collimator; 132-Infrared camera; 140-First locking mechanism; 141-Slide; 142-Second slide; 143-Third slide; 144-First electric screwdriver; 145-Second vision camera; 146-Second light source; 150-Second locking mechanism; 151-Fourth slide; 152-Fifth slide; 153-Sixth slide; 154-Second electric screwdriver; 155-Third vision camera; 156-Third light source; 160-Base. Detailed Implementation

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] This application provides a lidar receiver dimming device 100, a lidar receiver dimming device 100, and a dimming method, which can be used for laser receiver debugging. The lidar receiver dimming device 100, lidar receiver dimming device 100, and dimming method provided by this application can realize the dimming alignment of the receiving module, improve the laser receiver debugging efficiency of the receiving module, and improve work efficiency and product quality.

[0040] Combination Figure 1 and Figure 9 As shown, an embodiment of this application provides a lidar receiving dimming device 100. The lidar receiving module includes a receiving bracket, a receiving circuit board, and receiving components. The lidar receiving dimming device 100 includes a control system and a positioning component 110, a multi-axis robot 120, a detection component 130, and a locking component, which are respectively connected to the control system.

[0041] The positioning component 110 is used to place and fix the receiving module. The multi-axis robot 120 is used to collect calibration images of the receiving module and the positioning component 110 and send the calibration images to the control system. The control system determines the calibration difference between the receiving module and the positioning component 110 according to the calibration images, so that the positioning component 110 adjusts its orientation according to the calibration difference to achieve positioning of the receiving module.

[0042] After the receiving module is positioned, the multi-axis robot 120 is also used to acquire the position image of the receiving module and send the position image to the control system. The control system determines the first current position of the receiving bracket, the first locking position of the receiving bracket, the second current position of the receiving circuit board, and the second locking position of the receiving circuit board based on the position image. The detection component 130 is used to detect the received image of the receiving element and the reflected light spot received by the corresponding receiving element and send the received image to the control system. The control system determines the distance between the receiving element and the reflected light spot based on the received image.

[0043] The control system controls the multi-axis robot 120 to grasp the receiving bracket according to the first current position, controls the locking component to release the receiving bracket according to the first locking position, controls the multi-axis robot 120 to move according to the received image, and after achieving automatic focusing, controls the locking component to lock the receiving bracket according to the first locking position; the control system controls the multi-axis robot 120 to grasp the receiving circuit board according to the second current position, controls the locking component to release the receiving circuit board according to the second locking position, controls the multi-axis robot 120 to automatically adjust the light and align according to the distance, and then controls the locking component to lock the receiving circuit board according to the second locking position.

[0044] Specifically, the first current position refers to the position of the receiving module after the positioning component 110 has been adjusted and positioned; the first locking position refers to the screw locking part between the receiving bracket and the positioning component 110; the second current position refers to the position after the receiving module has automatically focused; and the second locking position refers to the screw locking part between the receiving circuit board and the receiving bracket.

[0045] This application, through the setup of positioning component 110, multi-axis robot 120, detection component 130, locking component and control system, can realize the automatic positioning and focusing of the receiving module, and realize the automatic dimming alignment of the receiving components and receiving bracket, thereby improving dimming efficiency and product quality.

[0046] In some embodiments, after the locking component locks the receiving circuit board, the detection component 130 re-inspects the received image. If it fails, the screws on the receiving circuit board are loosened again, and the receiving components and the receiving bracket are re-aligned and locked. The detection component 130 then re-inspects the image. If the re-inspection still fails, the above steps are repeated until the re-inspection is successful, thus ensuring the dimming accuracy of the receiving module.

[0047] like Figure 4 As shown, in some embodiments, the detection component 130 is disposed on the receiving side of the receiving module. The detection component 130 can receive the laser spot signal and perform feedback analysis to determine whether the receiving component has received the laser spot. The multi-axis robot arm performs multiple fine adjustments to bring the receiving component to the optimal receiving state and complete the debugging of the receiving module.

[0048] The detection component 130 includes a collimator 131 and an infrared camera 132. The collimator 131 is used to provide feedback on the focusing degree between the receiving module and the lidar, and the infrared camera 132 is used to receive the distance between the component and the reflected light spot.

[0049] 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 receiving circuit board and performs the displacement to complete the light adjustment.

[0050] The 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 ultimately provide feedback on the correct spot imaging shape, thus completing the dimming and alignment of the receiving components.

[0051] like Figure 2 As shown, in some embodiments, the positioning component 110 includes a positioning fixture 111, a fixing plate 113, an adjustment mechanism 112, and a calibration block 114. The fixing plate 113 is mounted on the positioning fixture 111, and a receiving module is placed on the fixing plate 113. The adjustment mechanism 112 has multiple adjustment platforms with different adjustment directions to adjust the orientation of the receiving module. The positioning fixture 111 is fixed to the adjustment mechanism 112. The positioning fixture 111 serves as the mounting carrier for the fixing plate 113, facilitating the disassembly of the fixing plate 113 and the loading and unloading of the receiving module.

[0052] In some embodiments, a backlight is provided on the side of the positioning fixture 111 near the rotary table 1124.

[0053] By setting the backlight, the brightness at the positioning fixture 111 can be increased when adjusting the receiving module, thereby ensuring the adjustment accuracy of the receiving module.

[0054] 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 can extend and retract along a second direction, the first direction is perpendicular to the second direction, the pitch platform 1123 can drive the receiving module to rotate around the first direction as an axis, and the rotary platform 1124 can drive the receiving module to rotate around the second direction as an axis.

[0055] Before adjusting and aligning the receiving components, the receiving module needs to be fixed in a preset position to facilitate subsequent debugging of the receiving components. 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 receiving module in the first direction.

[0056] 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 and the receiving module in the second direction.

[0057] The pitch stage 1123 includes a platform capable of arc-shaped movement, and the rotary stage 1124 is mounted on this platform. By setting the pitch stage 1123, the rotary stage 1124 can be rotated about the first direction as the axis to adjust the angle of the receiving module in the second direction.

[0058] The rotary table 1124 includes a rotatable mounting platform located on the side away from the pitch table 1123. The fixing plate 113 is mounted on the mounting platform. By setting the rotary table 1124, the fixing plate 113 can be rotated about the second direction as the axis, thereby adjusting the angle of the receiving module in the first direction.

[0059] Combined Figure 3 As shown, the multi-axis robot 120 includes a robotic arm 121, a gripper 122, and a first vision camera 124. The gripper 122 is mounted on the working end of the robotic arm 121 and is used to grip a receiving bracket or a receiving circuit board. The robotic arm 121 has multiple degrees of freedom to control the gripper 122 to perform multiple degrees of freedom movements, so that the receiving components can receive the laser reflected light spot.

[0060] Specifically, both the positioning component 110 and the multi-axis robot 120 are mounted on the base 160. The fixing plate 113 has screw holes; after the receiving module is positioned by pins, it is locked to the fixing plate 113 by screws. Since the fixing plate 113 is mounted on the adjustment mechanism 112, the adjustment mechanism can be used to adjust the fixing plate 113 through adjustment platforms in different directions, thereby placing the receiving module in a preset alignment state. The multi-axis robot 120 can perform multiple degrees of freedom of movement to adjust the working position of the gripper 122. After the receiving module is adjusted to the preset state, the multi-axis robot 120 controls the gripper 122 to hold the receiving bracket or receiving circuit board for beam alignment, thereby improving the debugging efficiency of laser reception.

[0061] 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.

[0062] The calibration block 114 has edges that are parallel to a first direction, a second direction, and a third direction, respectively, and the first direction, the second direction, and the third direction are perpendicular to each other. Using the calibration block 114 as an orientation reference, the first visual camera 124 is used to analyze the orientation difference between the feedback receiving module and the calibration block 114.

[0063] 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 receiving module. The first vision camera 124 can capture and determine the orientation of the receiving module. When the lens assembly is not aligned with the edges of the calibration block 114 in the first, second, or third directions, 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 receiving module and the calibration block 114 is within a set range.

[0064] In one embodiment, a first light source 123 is provided at the lens of the first visual camera 124.

[0065] By setting the first 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 receiving module is more accurate.

[0066] In some embodiments, the locking assembly further includes a first locking mechanism 140 and a second locking mechanism 150, which are respectively disposed on opposite sides of the positioning assembly 110.

[0067] Specifically, the first locking mechanism 140 is used to loosen and install screws on the receiving bracket. When adjusting the receiving bracket, the first locking mechanism 140 is used to loosen the bracket screws. After the multi-axis robot 120 adjusts the receiving bracket, the first locking mechanism 140 is used to tighten the bracket screws again to complete the positioning of the receiving bracket. The second locking mechanism 150 is used to loosen and install screws on the receiving circuit board. When aligning the receiving components for dimming, the second locking mechanism 150 is used to loosen and install screws on the receiving circuit board. After the multi-axis robot 120 adjusts the receiving circuit board, the second locking mechanism 150 is used to tighten the receiving circuit board screws again to complete the dimming alignment of the receiving components.

[0068] Combination Figure 5 and Figure 6 As shown, in some embodiments, the first locking mechanism 140 includes a first displacement mechanism, a first electric screwdriver 144, and a second vision camera 145, both of which are mounted on the first displacement mechanism. The second locking mechanism 150 includes a second displacement mechanism, a second electric screwdriver 154, and a third vision camera 155, both of which are mounted on the second displacement mechanism.

[0069] The first electric screwdriver 144 is used to loosen and tighten the screws on the receiving bracket, and the second electric screwdriver 154 is used to loosen and tighten the screws on the receiving circuit board. The second vision camera 145 acquires and analyzes the position of the receiving bracket and feeds it back to the PLC (Programmable Logic Controller) system. The PLC issues a command to cause the first displacement mechanism to move the first electric screwdriver 144 to the corresponding screw position, completing the loosening and tightening of the bracket screws. The third vision camera 155 acquires and analyzes the position of the receiving circuit board and feeds it back to the PLC system. The PLC issues a command to cause the second displacement mechanism to move the second electric screwdriver 154 to the corresponding screw position, completing the loosening and tightening of the receiving circuit board screws.

[0070] The first displacement mechanism 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 the first direction. The second slide table 142 is slidably mounted 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 the second direction. The second vision camera 145 and the first electric screwdriver 144 are both mounted on the third slider. The first, second, and third directions are perpendicular to each other. Through the arrangement of the slide block 141, the second slide table 142, and the third slide table 143, the positions of the second vision camera 145 and the first electric screwdriver 144 can be adjusted in three directions, ensuring precise and convenient adjustment during the installation and removal of the bracket screws.

[0071] The second displacement mechanism includes a fourth slide 151, a fifth slide 152, and a sixth slide 153. The fourth slide 151 is mounted on the base 160. The fifth slide 152 is slidably mounted on the fourth slide 151, and the fourth slide 151 can drive the fifth slide 152 to move in a third direction. The sixth slide 153 is slidably mounted on the fifth slide 152, and the fifth slide 152 can drive the sixth slide 153 to move in a first direction. The third vision camera 155 and the second electric screwdriver 154 are both mounted on the sixth slide 153, and the sixth slide 153 can drive the third vision camera 155 and the second electric screwdriver 154 to move in a second direction. Through the arrangement of the fourth slide 151, fifth slide 152, and sixth slide 153, the positions of the third vision camera 155 and the second electric screwdriver 154 can be adjusted in three directions, ensuring accuracy and ease of adjustment during the installation and removal of circuit board screws.

[0072] In some embodiments, a second light source 146 is provided at the lens of the second vision camera 145, and a third light source 156 is provided at the lens of the third vision camera 155.

[0073] By setting the second light source 146 and the third light source 156, lighting is provided during the operation of the second vision camera 145 and the third vision camera 155, the brightness of the light is adjusted, the shooting clarity of the second vision camera 145 and the third vision camera 155 is improved, and the judgment of screw disassembly and assembly is more accurate.

[0074] In some embodiments, the lidar receiving dimming device 100 further includes a base 160, on which a positioning component 110, a multi-axis robot 120, a detection component 130, and a locking component are all mounted.

[0075] The positioning component 110, multi-axis robot 120, detection component 130, and locking component can be mounted on the base 160 by means of bolts or other methods to form an integrated setup. Multiple casters can be installed on the bottom of the base 160 to facilitate the overall movement of the lidar receiving and dimming device 100. Simultaneously, the base 160 isolates each operating component from the ground, preventing damage to the equipment due to moisture or other unseen factors.

[0076] Combination Figure 7 and Figure 8 As shown, embodiments of this application also provide a dimming method, the dimming method comprising:

[0077] S10, fix the receiving module on the fixing plate 113.

[0078] The receiving module can be placed on the fixed plate 113 manually or by a robotic arm. The fixed plate 113 is positioned by pins, so that the fixed plate 113 is restricted to the preset position of the positioning fixture 111. Then, the phototube detector is fixed on the fixed plate 113 by screws.

[0079] S20, the orientation of the receiving module is adjusted using the adjustment mechanism 112 so that the receiving module 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 receiving module, and through visual algorithm analysis, detects whether the receiving module is in a horizontal state, judges the difference between the receiving module and the calibration block 114 in the first, second, and third directions, and adjusts the positioning component 110 through the adjustment mechanism 112 to make the difference between the receiving module and the calibration block 114 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 receiving module in the second direction, and rotated around the second direction by the rotary platform 1124 to adjust the angle of the receiving module in the first direction.

[0082] S30, the multi-axis robot 120 clamps the receiving bracket, the first locking mechanism 140 loosens the bracket screws, performs focusing adjustment of the receiving module, and after focusing is completed, tightens the bracket screws.

[0083] After the receiving module is in the preset position, the multi-axis robot 120 clamps the receiving bracket, and the first moving mechanism moves the first electric screwdriver 144 to the top of the bracket screw. The first electric screwdriver 144 loosens the bracket screw, and then the multi-axis robot 120 makes a fine adjustment to the receiving bracket so that the receiving bracket can automatically focus. After focusing, the first electric screwdriver 144 tightens the bracket screw to fix the receiving bracket.

[0084] S40, the receiving circuit board is clamped by the multi-axis robot 120, the second locking mechanism 150 loosens the screws of the receiving circuit board, and the receiving components are adjusted and aligned. After the adjustment is completed, the screws of the receiving circuit board are tightened.

[0085] After the receiving bracket is fixed, the multi-axis robot 120 clamps the receiving circuit board. The second moving mechanism moves the second electric screwdriver 154 to above the screws on the receiving circuit board, loosening the screws using the second electric screwdriver 154. The multi-axis robot 120 then fine-tunes the receiving circuit board to align the receiving components with the reflected laser spot. After dimming, the screws on the receiving circuit board are tightened using the second electric screwdriver 154 to fix the circuit board. The receiving module is then re-inspected to check the dimming alignment. If the dimming effect does not meet the preset standard, the screws on the receiving circuit board are loosened again, and the multi-axis robot is used for further adjustment. After adjustment, the screws are tightened, and the re-inspection is performed again. If it still fails, the above steps are repeated until the re-inspection test is passed.

[0086] The dimming method provided in this application reduces bonding errors between receiving components and the receiving circuit board, as well as fixing errors between the receiving circuit board and the receiving bracket, thereby improving dimming efficiency and product quality. It can reduce the receiving and debugging time of LiDAR, increase productivity per person-hour, and provide controllable and traceable dimming performance parameters with better consistency. When applied to automobiles, it better meets automotive-grade standards.

[0087] 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.

[0088] 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 receiving and dimming device, wherein the receiving module of the laser radar includes a receiving bracket, a receiving circuit board, and receiving components, characterized in that, The lidar receiving and dimming device includes a control system and a positioning component, a multi-axis robot, a detection component, and a locking component, all connected to the control system. The positioning component is used to place and fix the receiving module. The multi-axis robot is used to collect calibration images of the receiving module and the positioning component, and send the calibration images to the control system. The control system determines the calibration difference between the receiving module and the positioning component based on the calibration images, so that the positioning component can adjust its orientation according to the calibration difference to achieve positioning of the receiving module. After the receiving module is positioned, the multi-axis robot is also used to acquire the position image of the receiving module and send the position image to the control system. The control system determines the first current position of the receiving bracket, the first locking position of the receiving bracket, the second current position of the receiving circuit board, and the second locking position of the receiving circuit board based on the position image. The detection component is used to detect the received image of the receiving element and the reflected light spot received by the corresponding receiving element and send the received image to the control system. The control system determines the distance between the receiving element and the reflected light spot based on the received image. The control system controls the multi-axis robot to grasp the receiving bracket according to the first current position, controls the locking component to release the receiving bracket according to the first locking position, controls the multi-axis robot to move according to the received image, achieves automatic focusing, and then controls the locking component to lock the receiving bracket according to the first locking position; the control system controls the multi-axis robot to grasp the receiving circuit board according to the second current position, controls the locking component to release the receiving circuit board according to the second locking position, controls the multi-axis robot to perform automatic light adjustment and alignment according to the distance, and then controls the locking component to lock the receiving circuit board according to the second locking position. The locking assembly includes a first locking mechanism and a second locking mechanism, which are respectively disposed opposite to each other on both sides of the positioning assembly. The first locking mechanism is used to fix or loosen the receiving bracket, and the second locking mechanism is used to fix or loosen the receiving circuit board.

2. The lidar receiving and dimming device according to claim 1, characterized in that, After the locking component locks the receiving circuit board, the detection component re-inspects the received image. If it fails, automatic dimming is performed again until the detection component re-inspects it and it passes.

3. The lidar receiving and dimming device according to claim 1, characterized in that, The detection component includes a collimator and an infrared camera. The collimator is used to provide feedback on the focusing degree between the receiving module and the lidar, and the infrared camera is used to measure the distance between the receiving component and the reflected light spot.

4. The laser radar receiving and dimming device according to claim 1, characterized in that, The positioning component includes a fixing plate, an adjustment mechanism, a positioning fixture, and a calibration block. The fixing plate is mounted on the positioning fixture, and the receiving module is placed on the fixing plate. The calibration block is located on one side of the adjustment mechanism, and the positioning fixture is fixed on the adjustment mechanism.

5. The laser radar receiving and dimming device according to claim 4, characterized in that, The adjustment mechanism includes a first slide, a lifting platform, a pitch platform, and a rotary platform. The first slide includes a first slider. The lifting platform is mounted on the first slider. The pitch platform is mounted on the output end of the lifting platform. The rotary platform is mounted on the pitch platform. The first slider can slide along a first direction. The lifting platform can extend and retract along a second direction. The first direction is perpendicular to the second direction. The pitch platform can drive the receiving module to rotate about the first direction as an axis. The rotary platform can drive the receiving module to rotate about the second direction as an axis.

6. The lidar receiving and dimming device according to claim 4, characterized in that, 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 receiving bracket or the receiving circuit board. The robotic arm has multiple degrees of freedom to control the gripper to perform multiple degrees of freedom movements.

7. The lidar receiving and dimming device according to claim 6, characterized in that, The calibration block has edges that are parallel to a first direction, a second direction, and a third direction, respectively, and the first direction, the second direction, and the third direction are perpendicular to each other; Using the calibration block as an orientation reference, the first visual camera is used to analyze and provide feedback on the orientation difference between the receiving module and the calibration block.

8. The laser radar receiving and dimming device according to claim 1, characterized in that, The first locking mechanism includes a first displacement mechanism, a first electric screwdriver, and a second vision camera, both of which are mounted on the first displacement mechanism. The second locking mechanism includes a second displacement mechanism, a second electric screwdriver, and a third vision camera, with the second electric screwdriver and the third vision camera both mounted on the second displacement mechanism.

9. The laser radar receiving and dimming device according to any one of claims 1 to 8, characterized in that, The lidar receiving and dimming device also includes a base, on which the positioning component, the multi-axis robot, the detection component, and the locking component are all mounted.

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