A plate adjusting device, light adjusting platform and laser ranging device

Abstract

The application discloses a plate adjusting device, a light adjusting platform and a laser ranging device. The plate adjusting device comprises a first shell support, a plate clamping mechanism, a first position adjusting mechanism and an image capturing module. The first shell support is used for placing a shell of the laser ranging device, and the first shell support is provided with an opening. The plate clamping mechanism is used for clamping a light emitting plate. The first position adjusting mechanism is connected with the plate clamping mechanism, and the first position adjusting mechanism is used for adjusting the position of the plate clamping mechanism to adjust the position of the light emitting plate. The image capturing module is used for shooting the light emitting plate and a light receiving plate to determine the relative position of the light emitting plate and the light receiving plate. When the light emitting plate is installed, the shell is placed on the first shell support, the first mounting surface and the second mounting surface of the shell are exposed through the opening, and the plate clamping mechanism is located on the side of the shell provided with the first mounting surface and the second mounting surface. The relative position accuracy between the light emitting plate and the light receiving plate can be ensured.

Description

Technical Field

[0001] This application relates to the field of laser ranging technology, and in particular to a plate adjustment device, a light adjustment platform, and a laser ranging device. Background Technology

[0002] A laser rangefinder is a radar system that uses laser beams to detect the position, velocity, and other characteristics of a target. A laser rangefinder typically includes a laser transmitter and a laser receiver. The light source in the laser transmitter emits a detection beam toward the target object, and the laser receiver receives the detection echo beam reflected back from the target object and outputs a corresponding electrical signal. After processing the electrical signal, parameters such as the target object's distance, azimuth, height, velocity, attitude, and shape are obtained, thereby achieving the detection function.

[0003] In related technologies, the installation accuracy of both the light emitting plate and the light receiving plate of a laser emitting device is ensured by their installation positions, but it is difficult to guarantee the accuracy of the relative positions between the light emitting plate and the light receiving plate. Summary of the Invention

[0004] This application provides a plate adjustment device, a light adjustment platform, and a laser ranging device, which can ensure the accuracy of the relative position between the light emitting plate and the light receiving plate.

[0005] In a first aspect, this application provides a plate adjustment device for assisting in the assembly of a laser ranging device. The laser ranging device includes a housing, a light emitting plate, and a light receiving plate. One side of the housing has a first mounting surface for mounting the light emitting plate and a second mounting surface for mounting the light receiving plate. The plate adjustment device includes: a first housing support for placing the housing, the first housing support having an opening; a plate clamping mechanism for clamping the light emitting plate; a first adjustment mechanism connected to the plate clamping mechanism for adjusting the position of the plate clamping mechanism to adjust the position of the light emitting plate; and an image capturing module for capturing images of the light emitting plate and the light receiving plate to determine their relative positions. When installing the light emitting plate, the housing is placed on the first housing support, the first mounting surface and the second mounting surface are exposed through the opening, and the plate clamping mechanism is located on the side of the housing where the first mounting surface and the second mounting surface are located.

[0006] Secondly, this application also provides a light adjustment platform, wherein the laser ranging device further includes a transmitting lens and a receiving lens, and the light adjustment platform includes a fixed base, a lens adjustment device, and a plate adjustment device as described above; wherein the plate adjustment device and the lens adjustment device are both mounted on the fixed base, and the lens adjustment device is used to assist the transmitting lens and the receiving lens in being mounted on the housing after the light transmitting plate and the light receiving plate are mounted on the housing.

[0007] Thirdly, this application also provides a laser ranging device, comprising: a housing having a first mounting surface and a second mounting surface on one side; a light emitting plate mounted on the first mounting surface, the light emitting plate being used to emit a detection beam; a emitting lens mounted on the housing and located on the light-emitting side of the light emitting plate, the emitting lens being used to receive the detection beam emitted by the light emitting plate and direct the detection beam toward a target object; a light receiving plate; and a receiving lens mounted on the housing and located on the light-incident side of the light receiving plate, the receiving lens and the light receiving plate being arranged along the optical axis of the receiving lens, the receiving lens being used to receive the detection echo beam reflected back from the target object and direct the detection echo beam toward the light receiving plate so that the light receiving plate receives the detection echo beam; wherein, the housing is provided with a first transmission channel and a second transmission channel, the first transmission channel being used for transmitting the detection beam emitted by the light emitting plate to the emitting lens, and the second transmission channel being used for transmitting the detection echo beam passing through the receiving lens to the light receiving plate.

[0008] The beneficial effects of this application are as follows: the plate adjustment device provided in the embodiments of this application is used to assist in the installation of the light emitting plate. The relative position of the light emitting plate and the light receiving plate is adjusted first and then the light emitting plate is fixed. When adjusting the position of the light emitting plate, the position of the light receiving plate and the light emitting plate is determined by the image acquisition module. This can ensure the accuracy of the relative position between the light emitting plate and the light receiving plate, so that the laser ranging device has better ranging performance. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0010] Figure 1 This is a schematic diagram of a laser rangefinder placed on a plate adjustment device in one embodiment of this application; Figure 2This is a schematic diagram of the laser ranging device and part of the plate adjustment device in one embodiment of this application; Figure 3 This is a schematic diagram of the structure of the light emitting plate and the plate clamping mechanism in one embodiment of this application; Figure 4 This is a schematic diagram of the structure of the light emitting plate, the plate clamping mechanism and the first adjustment mechanism in one embodiment of this application; Figure 5 This is a schematic diagram of the plate adjustment device in one embodiment of the present application, excluding the image acquisition module and the third adjustment mechanism; Figure 6 This is a schematic diagram of the structure of the image acquisition module and the third adjustment mechanism in one embodiment of this application; Figure 7 This is a three-dimensional structural diagram of a laser ranging device in one embodiment of this application; Figure 8 This is a schematic diagram of the structure of the light modulation platform in one embodiment of this application; Figure 9 This is a schematic diagram of the structure of a laser ranging device in one embodiment of this application; Figure 10 This is a schematic diagram of a laser rangefinder placed on a lens adjustment device in one embodiment of this application; Figure 11 This is a schematic diagram of the laser rangefinder, the second housing support, and the calibration plate in one embodiment of this application; Figure 12 This is a schematic diagram of the lens clamping mechanism and part of the adjustment mechanism in one embodiment of this application; Figure 13 This is a schematic diagram of the lens clamping mechanism and adjustment mechanism in one embodiment of this application; Figure 14 This is a schematic diagram of the lens adjustment mechanism in one embodiment of this application; Figure 15 This is a schematic diagram of the laser ranging device and the second housing support in one embodiment of this application.

[0011] Figure label: 10. Plate adjustment device; 11. First housing support; 111. Opening; 12. Plate clamping mechanism; 121. Support member; 122. Clamping member; 122a. Connecting part; 122b. Claw; 122c. Limiting part; 122d. Bayonet; 123. Elastic member; 124. Limiting post; 125. Stopping part; 13. First adjustment mechanism; 131. First support; 132. First adjustment structure; 132a. First rotating disk; 132b. First adjustment base; 132c. First rotating rod; 133. Second adjustment structure; 133a. Second adjustment base; 133b. Second moving stage; 133c. First lead screw; 134. Third adjustment structure; 134a. Third adjustment base; 134b. Three moving stages; 134c, second lead screw; 14, image acquisition module; 141, camera; 142, camera lens; 143, supplementary light source; 15, second adjustment mechanism; 151, first support platform; 152, third lead screw; 153, second support platform; 154, grating ruler; 155, reading head; 156, double guide rail structure; 157, third support platform; 158, second rotating rod; 16, third adjustment mechanism; 161, second support; 162, fourth adjustment structure; 162a, fourth adjustment base; 162b, fourth moving stage; 162c, operating lever; 163, fifth adjustment structure; 163a, fifth adjustment base; 163b, fifth moving stage; 163c, fourth lead screw; 20, laser measuring... 21. Distance device; 211. Housing; 212. First mounting surface; 212. Second mounting surface; 22. Light emitting plate; 221. First plate; 222. Laser light source; 23. Light receiving plate; 231. Second plate; 232. Optical sensor; 24. Transmitting lens; 25. Receiving lens; 26. First transmission channel; 27. Second transmission channel; 30. Lens adjustment device; 31. Second housing support; 32. Lens adjustment mechanism; 33. Lens clamping mechanism; 331. Clamping base; 332. Clamping assembly; 332a. First gripper; 332b. Second gripper; 332c. Clamping jaw; 332d. Pin; 333. Elastic telescopic component; 334. First clamping surface; 335. Second clamping surface; 34. Adjustment mechanism; 341, First adjustment structure; 341a, First moving part; 341b, First base; 341c, First connecting rod; 342, Second adjustment structure; 342a, Second rotating disk; 342b, Second base; 342c, Second rotating shaft; 343, Third adjustment structure; 343a, Third moving part; 343b, Third base; 343c, First screw; 344, Fourth adjustment structure; 344a, Fourth moving part; 344b, Fourth base; 344c, Second screw; 345, Fifth adjustment structure; 345a, Fifth moving part; 345b, Fifth base; 345c, Third screw; 35, Support seat; 36, Calibration plate; 37, Limiting baffle; 40, Fixed base. Detailed Implementation

[0012] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0013] It should be noted that when a component is referred to as "fixed to," "set on," or "located on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to," it can be directly connected to or indirectly connected to that other component.

[0014] It should also be noted that the terms "vertical," "horizontal," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only relative concepts or references to the normal use state of the product. They are used for the purpose of facilitating the description of 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. Therefore, they should not be construed as limitations on this application.

[0015] 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 with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0016] like Figure 1 As shown in the embodiment of this application, the plate adjustment device 10 is used to assist in the assembly of the laser ranging device 20. The laser ranging device 20 includes a housing 21, a light emitting plate 22, and a light receiving plate 23. The plate adjustment device 10 is specifically used to assist in the installation of the light emitting plate 22 on the housing 21. The laser ranging device 20 is used in the field of laser ranging technology. The housing 21 is used to provide support for the light emitting plate 22 and the light receiving plate 23. The light emitting plate 22 is used to generate a laser beam and use the laser beam as a detection beam to be directed towards the target object in the detection area according to a preset detection field of view. The light receiving plate 23 is used to receive the detection echo beam reflected back from the target object. Specifically, the light emitting plate 22 emits a detection beam towards the target object, and the light receiving plate 23 receives the detection echo beam reflected back from the target object and outputs the corresponding electrical signal. Then, the signal processing device processes the electrical signal corresponding to the echo beam appropriately to form a point cloud map. By processing the point cloud map, parameters such as the distance, orientation, height, speed, attitude, and shape of the target object can be obtained, thereby realizing the laser detection function. This can then be applied to navigation and avoidance, obstacle recognition, ranging, speed measurement, and autonomous driving scenarios of products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0017] Of course, depending on actual needs, the laser ranging device 20 can be used not only in the field of laser ranging technology, but also in other application scenarios, such as part diameter detection, surface roughness detection, strain detection, displacement detection, vibration detection, velocity detection, distance detection, acceleration detection, and object shape detection.

[0018] Specifically, one side of the housing 21 has a first mounting surface 211 for mounting the light emitting plate 22 (e.g., Figure 2 ) and the second mounting surface 212 on which the optical receiver board 23 is mounted (e.g. Figure 2 When assembling the laser ranging device 20, the light emitting plate 22 is installed on the first mounting surface 211, and the light receiving plate 23 is installed on the second mounting surface 212.

[0019] For details, please refer to [link / reference]. Figure 1 As shown, the plate adjustment device 10 provided in this embodiment includes a first housing support 11, a plate clamping mechanism 12, a first positioning mechanism 13, and an image capturing module 14. The first housing support 11 is used to place the housing 21, and the first housing support 11 is provided with an opening 111 (e.g., ...). Figure 2 The plate clamping mechanism 12 is used to clamp the light emitting plate 22; the first adjustment mechanism 13 is connected to the plate clamping mechanism 12 and is used to adjust the position of the plate clamping mechanism 12 to adjust the position of the light emitting plate 22; the image capturing module 14 is used to capture images of the light emitting plate 22 and the light receiving plate 23 to determine the relative positions of the light emitting plate 22 and the light receiving plate 23.

[0020] Preferably, the image acquisition module 14 employs a high-precision vision module, which can use CMOS or CCD sensors to convert the captured target into an image signal and transmit it to a dedicated image processing system for processing. When installing the light emitting plate 22, the housing 21 is placed on the first housing support 11, with the first mounting surface 211 and the second mounting surface 212 exposed through the opening 111. The plate clamping mechanism 12 is located on the side of the housing 21 where the first mounting surface 211 and the second mounting surface 212 are located, facilitating the installation of the light emitting plate on the first mounting surface 211 and the light receiving plate 23 on the second mounting surface 212.

[0021] It should be noted that the assembly process of the laser rangefinder 20 assisted by the plate adjustment device 10 provided in this application embodiment can be as follows: S11. Place the housing 21 on the first housing support 11, adjust the position of the housing 21, and fix the housing 21 on the first housing support 11. At this time, the first mounting surface 211 and the second mounting surface 212 of the housing 21 are exposed through the opening 111. S12. Fix the light receiving plate 23 to the second mounting surface 212 of the housing 21. The light receiving plate 23 can be fixed to the housing 21 by screws, adhesive or clips. S13. Place the light emitting plate 22 on the plate clamping mechanism 12 and use the plate clamping mechanism 12 to clamp the light emitting plate 22. S14. The position of the plate clamping mechanism 12 is adjusted by the first adjustment mechanism 13 so that the plate clamping mechanism 12 is located on the side of the housing 21 where the first mounting surface 211 and the second mounting surface 212 are provided. The position of the light emitting plate 22 can be adjusted by adjusting the position of the plate clamping mechanism 12, thereby adjusting the relative position of the light receiving plate 23 and the light emitting plate 22. During the adjustment of the position of the light emitting plate 22, the image capturing module 14 is used to capture images of the light receiving plate 23 and the light emitting plate 22 to determine the relative position of the light receiving plate 23 and the light emitting plate 22. After the position of the light emitting plate 22 is adjusted so that the relative position relationship between the light receiving plate 23 and the light emitting plate 22 meets the preset relationship, the light emitting plate 22 is fixed on the first mounting surface 211 of the housing 21. The light emitting plate 22 can be fixed on the housing 21 by screws, adhesives or buckles.

[0022] It is understandable that, compared to related technologies where the installation accuracy of the light emitting plate 22 and the light receiving plate 23 is ensured by the installation position, the plate adjustment device 10 provided in this application embodiment assists in the installation of the light emitting plate 22. The relative positions of the light emitting plate 22 and the light receiving plate 23 are adjusted first and then the light emitting plate 22 is fixed. Furthermore, when adjusting the position of the light emitting plate 22, the position of the light receiving plate 23 and the light emitting plate 22 is determined by the image acquisition module 14. This ensures the accuracy of the relative position between the light emitting plate 22 and the light receiving plate 23, thereby giving the laser rangefinder 20 better ranging performance.

[0023] See also Figure 1 As shown, in an exemplary embodiment, the image capturing module 14 is located on the side of the first housing support 11 away from the plate clamping mechanism 12, and the lens side of the image capturing module 14 faces the housing 21. It is understood that when the light emitting plate 22 is installed, the image capturing module 14 and the plate clamping mechanism 12 are located on opposite sides of the housing 21, which can prevent the plate clamping mechanism 12 from affecting the image capturing module 14's ability to capture images of the light emitting plate 22 and the light receiving plate 23.

[0024] Furthermore, when installing the light emitting plate 22, the first adjustment mechanism 13 can also be located on the side of the housing 21 where the first mounting surface 211 and the second mounting surface 212 are provided, so as to avoid the first adjustment mechanism 13 affecting the image capturing module 14's shooting of the light emitting plate 22 and the light receiving plate 23.

[0025] Specifically, such as Figure 2 and Figure 3As shown, the plate clamping mechanism 12 includes a support member 121, a clamping member 122, and an elastic member 123. The support member 121 provides support for the clamping member 122 and the elastic member 123; the clamping member 122 is used to clamp the light emitting plate 22, and the clamping member 122 and the support member 121 are slidably connected along a first degree of freedom of movement, which is parallel to the optical axis of the image capturing module 14; the elastic member 123 is connected to the clamping member 122 and the support member 121, and the elastic extension direction of the elastic member 123 is parallel to the first degree of freedom of movement. When the light emitting plate 22 is installed, the elastic member 123 undergoes elastic deformation under the pressure of the support member 121 and the clamping member 122, so that the light emitting plate 22 abuts against the first mounting surface 211.

[0026] The first adjustment mechanism 13 is connected to the support member 121. The first adjustment mechanism 13 is used to adjust the position of the support member 121 in the second degree of freedom, the third degree of freedom and the first degree of rotational freedom, so as to adjust the position of the clamping member 122 and the light emitting plate 22 in the second degree of freedom, the third degree of freedom and the first degree of rotational freedom. The second degree of freedom, the third degree of freedom and the first degree of freedom are perpendicular to each other, and the plane of the first degree of rotational freedom is perpendicular to the first degree of freedom.

[0027] See Figure 3 As shown, it can be understood that an object in space possesses six degrees of freedom: translational degrees of freedom along the three Cartesian coordinate axes (X, Y, and Z) and rotational degrees of freedom about these axes. Specifically, the six degrees of freedom include the first, second, and third translational degrees of freedom, as well as the first, second, and third rotational degrees of freedom about the first, second, and third translational degrees of freedom, respectively. Taking the first translational degree of freedom as the X-direction, the second as the Y-direction, and the third as the Z-direction as an example, the first and second translational degrees of freedom are parallel to the horizontal plane, the third as the perpendicular to the horizontal plane, and the first rotational degree of freedom is the rotational degree of freedom R about the X-direction. X The plane containing the first rotational degree of freedom is perpendicular to the X-direction, and the second rotational degree of freedom is the rotational degree of freedom R about the Y-direction. Y The plane containing the second rotational degree of freedom is perpendicular to the Y direction, and the third rotational degree of freedom is the rotational degree of freedom R about the Z direction. Z The plane containing the third rotational degree of freedom is perpendicular to the Z direction.

[0028] It should also be noted that, theoretically, ensuring the accuracy of the relative position of the light emitting plate 22 and the light receiving plate 23 requires ensuring the accuracy of their relative positions in six degrees of freedom: the first degree of movement, the second degree of movement, the third degree of movement, the first degree of rotation, the second degree of rotation, and the third degree of rotation. In this embodiment, when installing the light emitting plate 22, the elastic element 123 can provide an elastic movement space for the light emitting plate 22. Under the elastic force of the elastic element 123, the light emitting plate 22 is positioned relative to the first mounting surface 21. 1. Maintaining contact, the relative positional accuracy of the light emitting plate 22 and the light receiving plate 23 in the first degree of freedom of movement, the second degree of freedom of rotation, and the third degree of freedom of rotation can be guaranteed by the first mounting surface 211 of the housing 21. Therefore, when adjusting the position of the light emitting plate 22 to adjust the relative position of the light emitting plate 22 and the light receiving plate 23 using the first adjusting mechanism 13, it is only necessary to adjust the relative position of the light emitting plate 22 and the light receiving plate 23 in the second degree of freedom of movement, the third degree of freedom of movement, and the first degree of freedom of rotation to ensure the accuracy of the relative position of the light emitting plate 22 and the light receiving plate 23.

[0029] See also Figure 3 As shown, more specifically, the clamping member 122 includes a connecting part 122a, a claw 122b, and a limiting part 122c.

[0030] The connecting part 122a is slidably connected to the support member 121 along the first degree of freedom of movement. The elastic member 123 is connected to the connecting part 122a. When the light emitting plate 22 is installed, the elastic member 123 undergoes elastic deformation under the pressure of the support member 121 and the connecting part 122a, so that the light emitting plate 22 abuts against the first mounting surface 211. The claw 122b has a jaw 122d for holding the light emitting plate 22. The claw 122b is installed on the connecting part 122a. When the light emitting plate 22 is installed, the claw tip of the claw 122b faces the housing 21. The limiting part 122c is provided on the connecting part 122a and connected to the connecting part 122a. The limiting part 122c and the claw 122b are arranged along the third degree of freedom of movement. When the light emitting plate 22 is held in the jaw 122d, the limiting part 122c abuts against the side of the light emitting plate 22 away from the housing 21.

[0031] Understandably, when installing the light emitting plate 22, it is engaged in the slot 122d of the light emitting plate 22 to achieve the installation of the light emitting plate on the claw 122b. Then, the light emitting plate 22 is brought into contact with the first mounting surface 211. In practice, the overall shape of the light emitting plate 22 is generally elongated. When the light emitting plate 22 is brought into contact with the first mounting surface 211, if only the claw 122b is used to limit the light emitting plate 22, the light emitting plate 22 is prone to tilting when adjusting its position. However, in this application, the claw 122b arranged along the third degree of freedom of movement and the limiting part 122c are used to limit the light emitting plate 22, which can make each part of the light emitting plate 22 fit more tightly with the first mounting surface 211 and prevent the light emitting plate 22 from tilting.

[0032] Further details can be found by referring to [link / reference]. Figure 3 As shown, the overall shape of the support member 121 can be L-shaped. The support member 121 can be provided with a slide rail for the connecting part 122a to slide along the first degree of freedom of movement. The connecting part can slide along the slide rail under the elastic force of the elastic member 123. The elastic member 123 can be a spring, elastic sponge or elastic rubber, etc.

[0033] The connecting part 122a may also be fixed with a limiting post 124. The limiting post 124 extends along the first degree of freedom of movement. The elastic member 123 is sleeved on the limiting post 124 so as to realize the positioning and installation of the elastic member 123 by using the limiting post 124 and restrict the elastic extension and contraction direction of the elastic member 123 so that the elastic extension and contraction direction of the elastic member 123 is parallel to the first degree of freedom of movement.

[0034] The support member 121 may also be fixed with a stop part 125. The stop part 125 is located on the side of the slide rail near the housing 21 and is located on the movement trajectory of the connecting part 122a to prevent the connecting part 122a from disengaging from the slide rail when it slides towards the housing 21.

[0035] Furthermore, the claw 122b, the connecting portion 122a, and the limiting post 124 can be integrally formed to improve the connection strength between the claw 122b, the limiting post 124, and the connecting portion 122a. The stop portion 125 can be integrally formed with the support member 121 to improve the connection strength between the stop portion 125 and the support member 121.

[0036] Specifically, such as Figure 4As shown, the first adjustment mechanism 13 includes a first support 131, a first adjustment structure 132, a second adjustment structure 133, and a third adjustment structure 134. The first adjustment structure 132 is connected to the support member 121 and is used to adjust the position of the support member 121 in the first rotational degree of freedom. The second adjustment structure 133 is connected to the first adjustment structure 132 and is used to adjust the position of the first adjustment structure 132 in the second translational degree of freedom, thereby adjusting the position of the support member 121 in the second translational degree of freedom. The third adjustment structure 134 is installed on the first support 131 and is connected to the second adjustment structure 133. The third adjustment structure 134 is used to adjust the position of the second adjustment structure 133 in the third translational degree of freedom, thereby adjusting the position of the support member 121 in the third translational degree of freedom.

[0037] Understandably, when the support member 121 moves synchronously with the light emitting plate 22, and the first adjusting structure 132 adjusts the position of the support member 121 in the first rotational degree of freedom, the support member 121 drives the light emitting plate 22 to move synchronously, thereby adjusting the position of the light emitting plate 22 in the first rotational degree of freedom; when the second adjusting structure 133 adjusts the position of the first adjusting structure 132 in the second degree of motion freedom, the first adjusting structure 132 drives the support member 121 and the light emitting plate 22 to move synchronously, thereby adjusting the position of the light emitting plate 22 in the second degree of motion freedom; when the third adjusting structure 134 adjusts the position of the second adjusting structure 133 in the third degree of motion freedom, the second adjusting structure 133 drives the first adjusting structure 132, the support member 121, and the light emitting plate 22 to move synchronously, thereby adjusting the position of the light emitting plate 22 in the third degree of motion freedom.

[0038] More specifically, the first adjustment structure 132 includes a first rotating disk 132a and a first adjustment base 132b, the axis of the first rotating disk 132a is parallel to the first degree of movement, the second adjustment structure 133 includes a second moving stage 133b and a second adjustment base 133a, and the third adjustment structure 134 includes a third moving stage 134b and a third adjustment base 134a.

[0039] The third adjustment base 134a is mounted on the first support 131. The third moving stage 134b is slidably connected to the third adjustment base 134a along the third degree of freedom of movement. The second adjustment base 133a is fixed on the third moving stage 134b. The second moving stage 133b is slidably connected to the second adjustment base 133a along the second degree of freedom of movement. The first adjustment base 132b is fixed on the second moving stage 133b. The first rotating disk 132a is rotatably connected to the first adjustment base 132b around its axis. The first rotating disk 132a can rotate around its axis. The support member 121 is fixed on the first rotating disk 132a. The support member 121 can rotate with the first rotating disk 132a.

[0040] Furthermore, the third adjustment base 134a, the third moving stage 134b, the second adjustment base 133a, the second moving stage 133b, the first adjustment base 132b, the first rotating disk 132a, and the support member 121 can be arranged sequentially along the first degree of freedom of movement to facilitate the operator to operate each adjustment structure.

[0041] See also Figure 4 As shown, a scale can be set on the circumference of the first rotating disk 132a. When the first rotating disk 132a is rotated, the rotation amplitude of the first rotating disk 132a can be known by reading the value on the scale, thereby achieving the purpose of precise adjustment.

[0042] It should be noted that the driving force for the movement of the first rotating disk 132a, the second moving platform 133b, and the third moving platform 134b can be the mechanical driving force provided by power devices such as motors, cylinders, or hydraulic cylinders. Of course, the driving force for the movement of the first rotating disk 132a, the second moving platform 133b, and the third moving platform 134b can also be human power.

[0043] To facilitate manual operation of the first rotating disk 132a, the second moving platform 133b, and the third moving platform 134b, see below. Figure 4 As shown, the first adjustment structure 132 may further include a first rotating rod 132c, a first bevel gear (not shown in the figure), and a second bevel gear (not shown in the figure) that cooperates with the first bevel gear. The first rotating rod 132c is arranged along the direction of the third degree of freedom of movement. The first rotating rod 132c is rotatably connected to the first adjustment base 132b about the third degree of freedom of movement. The first bevel gear is fixed on the first rotating rod 132c. The axial direction of the first bevel gear is parallel to the third degree of freedom of movement. The second bevel gear is fixed on the first rotating disk 132a. The axis of the second bevel gear coincides with the axis of the first rotating disk 132a. By rotating the first rotating rod 132c, the first bevel gear can be driven to rotate, thereby driving the second bevel gear and the first rotating disk 132a to rotate.

[0044] The second adjustment structure 133 may further include a first lead screw 133c, which is arranged along the direction of the second degree of freedom of movement. The first lead screw 133c passes through the second moving table 133b and is threadedly connected to the second moving table 133b. The first lead screw 133c is rotatably connected to the second adjustment base 133a around the second degree of freedom of movement. Rotating the first lead screw 133c can drive the second moving table 133b to move along the second degree of freedom of movement.

[0045] The third adjustment structure 134 may also include a second lead screw 134c, which is arranged along the direction of the third degree of freedom of movement. The second lead screw 134c passes through the third moving table 134b and is threadedly connected to the third moving table 134b. The second lead screw 134c is rotatably connected to the third adjustment base 134a around the third degree of freedom of movement. Rotating the second lead screw 134c can drive the third moving table 134b to move along the third degree of freedom of movement.

[0046] Specifically, such as Figure 5 As shown, the plate adjustment device 10 also includes a second adjustment mechanism 15, which includes a first support platform 151. The first housing bracket 11 is slidably connected to the first support platform 151 along a first degree of freedom of movement. The first housing bracket 11 can move along the first degree of freedom of movement, thereby driving the light emitting plate 22 and the light emitting plate 22 to move along the first degree of freedom of movement, so as to adjust the light emitting plate 22 and the distance between the light emitting plate 22 and the image capturing module 14, thereby achieving focusing of the image capturing module 14.

[0047] To facilitate the movement of the first housing support 11 along the first degree of freedom, the second adjustment mechanism 15 may further include a third lead screw 152. The third lead screw 152 is set along the first degree of freedom, passes through the first housing support 11 and is threadedly connected to the first housing support 11. The third lead screw 152 is rotatably connected to the first support platform 151 around the first degree of freedom. Rotating the third lead screw 152 can drive the first housing support 11 to move along the first degree of freedom.

[0048] For details, please refer to [link / reference]. Figure 5 As shown, the second adjustment mechanism 15 also includes a second support platform 153, a grating ruler 154, and a reading head 155; the first support platform 151 and the second support platform 153 are slidably connected along the second degree of freedom of movement, the grating ruler 154 extends along the second degree of freedom of movement, and the reading head 155 is mounted on the first support platform 151. The reading head 155 is used to cooperate with the grating ruler 154 to measure the movement distance of the first support platform 151 in the second degree of freedom of movement.

[0049] Understandably, the first support platform 151 can slide along the second degree of freedom of movement to drive the first housing bracket 11 and the reading head 155 to move synchronously, thereby adjusting the relative position of the light emitting plate 22 and the light receiving plate 23 in the second degree of freedom of movement. The reading head 155 can read the value on the grating ruler 154, thereby measuring the moving distance of the first support platform 151 in the second degree of freedom of movement. Furthermore, the grating ruler 154 has high precision, thereby accurately adjusting the relative position of the light emitting plate 22 and the light receiving plate 23 in the second degree of freedom of movement, thereby improving the accuracy of the relative position of the light emitting plate 22 and the light receiving plate 23.

[0050] The second support platform 153 may be provided with a double guide rail structure 156. The first support platform 151 is slidably connected to the second support platform 153 through the double guide rail structure 156. The double guide rail structure 156 can restrict the movement direction of the first support platform 151 so that the first support platform 151 can move stably along the second degree of freedom of movement, and avoid the first support platform 151 from deviating from the preset movement trajectory when it moves.

[0051] Furthermore, to facilitate the movement of the first support platform 151, the second adjustment mechanism 15 may also include a third support platform 157 and a second rotating rod 158 (e.g., Figure 2 The system includes a gear (not shown in the figure) and a rack (not shown in the figure). The second rotating rod 158 is set along the first degree of freedom of movement. The second rotating rod 158 is rotatably connected to the first support platform 151 around the first degree of freedom of movement. The gear is sleeved on the second rotating rod 158 and fixedly connected to the second rotating rod 158. The rack is fixed on the third support platform 157 and along the direction of the second degree of freedom of movement. The teeth on the gear mesh with the teeth on the rack. When the second rotating rod 158 is rotated to drive the gear to rotate, the first support platform 151 can be moved along the second degree of freedom of movement due to the mutual cooperation between the gear and the rack.

[0052] In one exemplary embodiment, see further. Figure 5 As shown, the first housing support 11 is provided with a placement groove for placing the housing 21. When installing the light emitting plate 22, the housing 21 is placed in the placement groove to limit the housing 21 and prevent the housing 21 from separating from the first housing support 11 during the installation of the light emitting plate 22.

[0053] like Figure 6 As shown, the plate adjustment device 10 also includes a third adjustment mechanism 16, which is connected to the image acquisition module 14. The third adjustment mechanism 16 is used to adjust the position of the image acquisition module 14 so that the image acquisition module 14 can better capture the light emitting plate 22 and the light receiving plate 23.

[0054] Specifically, the third adjustment mechanism 16 includes a second support 161, a fourth adjustment structure 162, and a fifth adjustment structure 163. The fourth adjustment structure 162 is connected to the image acquisition module 14 and is used to adjust the position of the image acquisition module 14 in the first rotational degree of freedom. The plane containing the first rotational degree of freedom is perpendicular to the optical axis of the image acquisition module 14. The fifth adjustment structure 163 is mounted on the second support 161 and is connected to the fourth adjustment structure 162. The fifth adjustment structure 163 is used to adjust the position of the fourth adjustment structure 162 in the third degree of motion freedom, thereby adjusting the position of the image acquisition module 14 in the third degree of motion freedom.

[0055] Understandably, the fourth adjustment structure 162 can drive the image acquisition module 14 to rotate along the first rotational degree of freedom to adjust the position of the image acquisition module 14 in the first rotational degree of freedom. The fifth adjustment structure 163 can drive the fourth adjustment structure 162 to move along the third translational degree of freedom. The fourth adjustment structure 162 drives the image acquisition module 14 to move synchronously to adjust the position of the image acquisition module 14 in the third translational degree of freedom, thereby achieving focus of the image acquisition module 14, so that the image acquisition module 14 can better capture images of the light emitting plate 22 and the light receiving plate 23.

[0056] Furthermore, the fourth positioning structure 162 may include a fourth positioning base 162a and a fourth moving stage 162b, and the fifth positioning structure 163 includes a fifth positioning base 163a and a fifth moving stage 163b. The fifth positioning base 163a is mounted on the second support 161, and the fifth moving stage 163b is slidably connected to the fifth positioning base 163a along the third degree of freedom of movement. The fourth positioning base 162a is fixed on the fifth sliding stage, and the fourth moving stage 162b is rotatably connected to the fourth positioning base 162a. The fourth moving stage 162b rotates along the first degree of rotational freedom, and the image acquisition module 14 is fixed to the fourth moving stage 162b.

[0057] It is understandable that when the fifth moving stage 163b moves along the third degree of freedom, it drives the fourth positioning base 162a to move synchronously along the third degree of freedom, thereby driving the fourth moving stage 162b and the image acquisition module 14 to move synchronously along the third degree of freedom, thus adjusting the position of the image acquisition module 14 in the third degree of freedom; the rotation of the fourth moving stage 162b along the first degree of rotational freedom can drive the image acquisition module 14 to rotate synchronously along the first degree of rotational freedom, thereby adjusting the position of the image acquisition module 14 in the first degree of rotational freedom.

[0058] To facilitate the movement of the fifth moving stage 163b and the fourth moving stage 162b, the fourth adjusting structure 162 may further include an operating lever 162c, which is fixedly connected to the fourth moving stage 162b. The fifth adjusting structure 163 also includes a fourth lead screw 163c, which is set along the third degree of freedom of movement. The fourth lead screw 163c passes through the fifth moving stage 163b and is threadedly connected to the fifth sliding stage. The fourth lead screw 163c is rotatably connected to the fifth adjusting base 163a. ​​The fourth lead screw 163c rotates along the first degree of rotational freedom. Rotating the fourth lead screw 163c can drive the fifth sliding stage to move along the third degree of freedom of movement.

[0059] See also Figure 6As shown, in an exemplary embodiment, the image acquisition module 14 may include a camera 141, a focusable camera lens 142, and a supplementary light source 143. The camera lens 142 is disposed on the light-inlet side of the camera 141, and the supplementary light source 143 can emit illumination light to the light emitting plate 22 and the light receiving plate 23, so that the camera 141 can capture clearer images of the light emitting plate 22 and the light receiving plate 23.

[0060] In one exemplary embodiment, a first alignment marker may be provided on the light emitting plate 22, and a second alignment marker image acquisition module may be provided on the light receiving plate 23. When the light emitting plate 22 is installed, the lens side of the image acquisition module 14 faces the first and second alignment markers. A third alignment marker is displayed on the screen of the image acquisition module 14 for displaying the captured image. The third alignment marker can cooperate with the first and second alignment markers to determine the relative position of the light emitting plate and the light receiving plate 23.

[0061] It should also be noted that the first, second, and third alignment marks can be cross-shaped, T-shaped, square, or other shapes. The shapes and sizes of the first, second, and third alignment marks can be exactly the same to facilitate the alignment of the third alignment mark with the first and second alignment marks. The number of the first, second, and third alignment marks can be one, two, or more, and this application does not impose any specific restrictions.

[0062] In this embodiment of the application, the process of using the plate adjustment device 10 to assist in the installation of the light emitting plate 22 can be as follows: S21. Place the housing 21 in the placement slot of the first housing bracket 11 and adjust the position of the housing 21. At this time, the first mounting surface 211 and the second mounting surface 212 of the housing 21 are exposed through the opening 111. S22. Fix the light receiving plate 23 to the second mounting surface 212 of the housing 21. The light receiving plate 23 can be fixed to the housing 21 by screws, adhesive or clips. S23. The position of the image capturing module 14 is adjusted by the third adjustment mechanism 16, and the first housing support 11 is moved along the first degree of freedom of movement so that the third alignment mark on the image capturing module 14 coincides with the second alignment mark on the light receiving plate 23, thereby achieving focus of the image capturing module 14. S24. Clear the reading of the reading head 155 to zero, move the first support platform 151 along the second degree of freedom of movement, and drive the first housing bracket 11 to move a preset distance. The preset distance is the design value of the relative position of the light emitting plate 22 and the light receiving plate 23 in actual needs. S25. The light emitting plate 22 is held in the slot 122d of the claw 122b, and the light emitting plate 22 is kept in contact with the first mounting surface 211 under the elastic force of the elastic element 123 of the plate clamping mechanism 12. S26. The position of the plate clamping mechanism 12 is adjusted by the first adjustment mechanism 13, thereby adjusting the position of the light emitting plate 22 so that the second alignment mark on the light emitting plate 22 coincides with the third alignment mark on the image capturing module 14, thus completing the position adjustment of the light emitting plate 22. Then, the light emitting plate 22 is fixed on the first mounting surface 211 of the housing 21.

[0063] It should be noted that when there are two or more light emitting boards 22, steps S23 to S26 can be repeated to install multiple light emitting boards 22. Based on the aforementioned plate adjustment device 10, this application embodiment also provides a light adjustment platform, such as... Figure 7 and Figure 8 As shown, the laser rangefinder 20 also includes a transmitting lens 24 and a receiving lens 25, and the light adjustment platform includes a fixed base 40, a lens adjustment device 30, and a plate adjustment device 10 as described in any of the above embodiments.

[0064] The plate adjustment device 10 and the lens adjustment device 30 are both mounted on the fixed base 40. The lens adjustment device 30 is used to assist the installation of the emitting lens 24 and the receiving lens 25 on the housing 21 after the light emitting plate 22 and the light receiving plate 23 are installed on the housing 21.

[0065] In one exemplary embodiment, the first support 131, the second support 161, the second support platform 153, and the grating ruler 154 of the plate adjustment device 10 can all be fixed on the fixed base 40.

[0066] The specific structure of the light adjustment platform is as described in the above embodiments. Since this light adjustment platform adopts all the technical solutions of all the embodiments described above, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0067] This application also proposes a laser ranging device 20, such as... Figure 9As shown, the laser ranging device 20 includes a housing 21, a light emitting plate 22, and a light receiving plate 23. One side of the housing 21 has a first mounting surface 211 and a second mounting surface 212. The light emitting plate 22 is mounted on the first mounting surface 211 and is used to emit a detection beam. A transmitting lens 24 is mounted on the housing 21 and located on the light-emitting side of the light emitting plate 22. The transmitting lens 24 is used to receive the detection beam emitted by the light emitting plate 22 and direct the detection beam toward the target object. A receiving lens 25 is mounted on the housing 21 and located on the light-incident side of the light receiving plate 23. The receiving lens 25 and the light receiving plate 23 are arranged along the optical axis of the receiving lens 25. The receiving lens 25 is used to receive the detection echo beam reflected back from the target object and direct the detection echo beam toward the light receiving plate 23 so that the light receiving plate 23 receives the detection echo beam.

[0068] The housing 21 is provided with a first transmission channel 26 and a second transmission channel 27. The first transmission channel 26 transmits the detection beam emitted by the light emitting plate 22 to the emitting lens 24, and the second transmission channel 27 transmits the detection echo beam passing through the receiving lens 25 to the light receiving plate 23.

[0069] It is understood that the light emitting plate 22, the light receiving plate 23, the emitting lens 24, and the receiving lens 25 are all fixed on the same housing 21, which facilitates the integration of the entire optical system module. The integrated parts are more likely to ensure structural rigidity and resistance to thermal deformation, thereby ensuring the accuracy and robustness of the laser rangefinder 20. At the same time, the light shielding between the light emitting plate 22 and the emitting lens 24 can be ensured by the first transmission channel 26, and the light shielding between the light receiving plate 23 and the receiving lens 25 can be ensured by the second transmission channel.

[0070] It should be noted that the light emitting plate 22 includes a first plate 221 and a laser light source 222 mounted on the first plate 221, and the light receiving plate 23 includes a second plate 231 and an optical sensor 232 mounted on the second plate 231. The laser light source 222 can emit a laser beam and use the laser beam as a detection beam to be directed toward the target object in the detection area according to a preset detection field of view. The optical sensor 232 can receive the detection echo beam and output the corresponding electrical signal.

[0071] The laser source 222 can be located in the first transmission channel 26, and the optical sensor 232 can be located in the second transmission channel 27. Specifically, the laser source 222 emits a detection beam towards the target object. After the detection beam is transmitted to the transmitting lens 24 in the first transmission channel 26, it passes through the transmitting lens 24 and is directed towards the target object. The detection echo beam reflected back from the target object is received by the receiving lens 25. After passing through the receiving lens 25, the detection echo beam is transmitted to the optical sensor 232 through the second transmission channel 27. The optical sensor 232 outputs a corresponding electrical signal. Then, the signal processing device processes the electrical signal corresponding to the echo beam appropriately to form a point cloud map. By processing the point cloud map, parameters such as the distance, orientation, height, speed, attitude, and shape of the target object can be obtained, thereby realizing the laser detection function. This can then be applied to navigation and avoidance, obstacle recognition, ranging, speed measurement, and autonomous driving scenarios in products such as automobiles, robots, logistics vehicles, and inspection vehicles.

[0072] The laser rangefinder 20 can be installed on the vehicle body, and the vehicle can be any size and model. This application embodiment does not impose any specific restrictions.

[0073] The laser rangefinder 20 can be applied to the environmental perception system of a vehicle. Of course, the laser rangefinder 20 can also be applied to the environmental perception system of equipment such as drones or robots to realize 3D (3 Dimensions) perception and environmental image perception functions.

[0074] Of course, the laser rangefinder 20 can also be applied to the vehicle's active suspension system. In such a system, the optical sensor 232 can send corresponding signals to the vehicle's electronic control unit (ECU) based on factors such as vehicle height, speed, steering angle, rate, and braking. The ECU then controls the suspension actuators to change parameters such as suspension stiffness, damper damping force, and vehicle height, thereby providing the vehicle with good ride comfort and handling stability. The laser rangefinder 20 can also be applied to vehicle lighting control systems, speed measurement systems, and driving control systems.

[0075] In one exemplary embodiment, at least two light emitting plates 22 and light emitting lenses 24 are provided, with one light emitting plate 22 and one light emitting lens 24 corresponding to each other.

[0076] Specifically, such as Figure 10 As shown, this application embodiment also provides a lens adjustment device 30, which is used to assist in the assembly of the laser rangefinder 20. Specifically, the lens adjustment device 30 is used to assist in the installation of the transmitting lens 24 and the receiving lens 25, etc., on the housing 21.

[0077] For details, see Figure 10 and Figure 11 As shown, the lens adjustment device 30 includes a second housing support 31, a lens adjustment mechanism 32, and a calibration plate 36. The second housing support 31 is used to place the housing 21. The lens adjustment mechanism 32 includes a lens clamping mechanism 33 and an adjustment mechanism 34. The lens clamping mechanism 33 is used to clamp the dimming lens, and the adjustment mechanism 34 is connected to the lens clamping mechanism 33. The adjustment mechanism 34 is used to adjust the position of the lens clamping mechanism 33 to adjust the position of the dimming lens. When the dimming lens is installed, the calibration plate 36 is located on the light-emitting side of the dimming lens. The calibration plate 36 is used to receive the probe beam emitted by the transmitting lens 24 and reflect the probe echo beam to the receiving lens 25.

[0078] It should be noted that the working process of using the lens adjustment device 30 provided in this application embodiment to assist in the installation of the dimming lens can be as follows: K11. Install the light emitting plate 22 and the light receiving plate 23 onto the housing 21; K12. Place the housing 21 on the second housing support 31, adjust the position of the housing 21, and then fix the housing 21 on the second housing support 31. K13, The dimming lens is clamped using the lens clamping mechanism 33; K14. Using the calibration plate 36 as the target object, the light emitting plate 22 emits a probe beam. The probe beam passes through the emitting lens 24 and is directed toward the calibration plate 36. The receiving lens 25 receives the probe echo beam reflected back from the calibration plate 36 and directs the probe echo beam toward the light receiving plate 23. The light receiving plate 23 receives the probe echo beam and outputs the corresponding electrical signal. Then, the signal processing device processes the electrical signal corresponding to the echo beam appropriately to form a point cloud map. K15. Determine the optical effect of the laser rangefinder 20 based on the point cloud data in the point cloud diagram. Based on the optical effect of the laser rangefinder 20, adjust the relative positions of the transmitting lens 24 and the receiving lens 25 using the lens adjustment mechanism 32. Once the optical effect of the laser rangefinder 20 meets the preset requirements, it indicates that the relative positional relationship between the transmitting lens 24 and the receiving lens 25 meets the preset relationship. Then, install the transmitting lens 24 and the receiving lens 25 onto the housing 21. The transmitting lens 24 and the receiving lens 25 can be fixed to the housing 21 using screws, adhesive, or clips.

[0079] It is understandable that, compared to related technologies where the installation accuracy of the transmitting lens 24 and receiving lens 25 is ensured by the installation position, using the lens adjustment device 30 provided in this application embodiment to assist in the installation of the transmitting lens 24 and receiving lens 25, adjusting the relative position of the light emitting plate 22 and the light receiving plate 23 according to the optical effect of the laser rangefinder 20 before fixing the transmitting lens 24 and receiving lens 25 can ensure the accuracy of the relative position between the transmitting lens 24 and the receiving lens 25, so that the laser rangefinder 20 has better ranging performance, and can also solve the problem that the precision light adjustment process cannot be achieved manually.

[0080] In one exemplary embodiment, a single lens adjustment mechanism 32 can be provided, that is, a single lens adjustment mechanism 32 can be used to assist in the installation of multiple dimming lenses such as the transmitting lens 24 and the receiving lens 25, thereby reducing the cost of the lens adjustment device 30.

[0081] In another exemplary embodiment, each dimming lens is equipped with a lens adjustment mechanism 32. Taking a three-dimming-lens configuration as an example, there are three sets of lens adjustment mechanisms 32, and the three sets of lens adjustment mechanisms 32 can work independently without interfering with each other, allowing the three dimming lenses to be adjusted and installed simultaneously, thereby improving work efficiency.

[0082] Further details can be found by referring to [link / reference]. Figure 10 As shown, when installing the dimming lenses: the adjustment mechanism 34 of the receiving lens 25 is located below the housing 21, and the adjustment mechanism 34 of the transmitting lens 24 is located on the side of the housing 21 along the first preset direction D. The first preset direction D is parallel to the horizontal plane and perpendicular to the optical axis direction of the transmitting lens 24 and the receiving lens 25. It can be understood that by designing the position of the adjustment mechanism 34 in each lens adjustment mechanism 32, it is possible to avoid the adjustment mechanism 34 blocking the detection beam emitted by the transmitting lens 24 and the detection echo beam reflected by the calibration plate 36.

[0083] like Figure 12 As shown, in an exemplary embodiment, the lens clamping mechanism 33 includes a clamping base 331 and a clamping component 332, the clamping component 332 being connected to the clamping base 331, and the clamping component 332 having a clamping jaw 332c for clamping a dimming lens.

[0084] The adjustment mechanism 34 is connected to the clamping base 331. The adjustment mechanism 34 is used to adjust the position of the clamping base 331 in the first rotation direction, the second rotation direction, the first sliding direction, the second sliding direction, and the third sliding direction, so as to adjust the position of the clamping assembly 332 and the dimming lens in the first rotation direction, the second rotation direction, the first sliding direction, the second sliding direction, and the third sliding direction. The plane where the second rotation direction is located is perpendicular to the plane where the first rotation direction is located. The first sliding direction, the second sliding direction, and the third sliding direction are perpendicular to each other. When the dimming lens is clamped in the clamping mouth 332c, one of the first sliding direction, the second sliding direction, and the third sliding direction is parallel to the optical axis direction of the dimming lens.

[0085] Understandably, when installing dimming lenses such as the transmitting lens 24 and the receiving lens 25, the dimming lens is clamped in the clamping slot 332c of the clamping assembly 332. After the dimming lens is fixed by the clamping assembly 332, the adjustment mechanism 34 is used to move the dimming lens in space. At this time, the clamping base 331 is moved by the adjustment mechanism 34, which drives the clamping assembly 332 and the dimming lens to move synchronously. This allows the position of the dimming lens in space to be adjusted, ensuring the accuracy and stability of the adjustment work. It also has the advantages of convenient operation and reusability without reducing positioning accuracy, which greatly improves production efficiency and product quality. This is an operation that cannot be achieved by manual adjustment. At the same time, only by adjusting the lens through a stable mechanism can the needs of mass production be met to satisfy the requirements of lens adjustment in terms of repeatability, safety, and stability.

[0086] It should also be noted that, see Figure 1 As shown, taking the first sliding direction as direction A, the second sliding direction as direction B, and the third sliding direction as direction C as an example, the first rotation direction is the rotation direction R around direction A. A The plane containing the first rotation direction is perpendicular to direction A, and the second rotation direction is the rotation direction R around direction C. C The plane containing the second rotation direction is perpendicular to the C direction. The adjustment mechanism 34 can adjust the position of the dimming lens in five dimensions: the first rotation direction, the second rotation direction, the first sliding direction, the second sliding direction, and the third sliding direction. This can fully meet the needs of dimming lens position adjustment and ensure the accuracy of the relative positions of the transmitting lens 24 and the receiving lens 25 in each dimension.

[0087] For details, please refer to [link / reference]. Figure 12As shown, the clamping assembly 332 includes a first clamping jaw 332a and a second clamping jaw 332b. The first clamping jaw 332a is connected to the clamping base 331 and has a first clamping surface 334. The second clamping jaw 332b has a second clamping surface 335, and a clamping opening 332c is formed between the second clamping surface 335 and the first clamping surface 334. The second clamping jaw 332b is movably connected to the clamping base 331 and moves relative to the first clamping jaw 332a on the clamping base 331 to adjust the size of the clamping opening 332c. The size of the clamping opening 332c can be adjusted, thereby facilitating the placement and removal of dimming lenses in the clamping opening 332c, and accommodating the clamping needs of dimming lenses of more sizes.

[0088] In one exemplary embodiment, the second gripper 332b is hinged to the clamping base 331 via a pin 332d. When the dimming lens is clamped in the clamping mouth 332c, the axial direction of the pin 332d is parallel to the optical axis direction of the dimming lens.

[0089] The lens clamping mechanism 33 also includes an elastic telescopic member 333. One end of the elastic telescopic member 333 is connected to the first clamp 332a, and the other end of the elastic telescopic member 333 is connected to the second clamp 332b. When the dimming lens is clamped in the clamping mouth 332c, the elastic telescopic member 333 is in an elastically stretched state, and the first clamping surface 334 and the second clamping surface 335 abut against the dimming lens under the pulling force of the elastic telescopic member 333.

[0090] Understandably, when the dimming lens is placed in the clamp 332c, the second clamp 332b rotates around the pin 332d to move away from the first clamp 332a. At this time, the clamp 332c becomes larger, making it easier to place the dimming lens in the clamp 332c. After the dimming lens is placed in the clamp 332c, the second clamp 332b is released. Under the pulling force of the elastic telescopic member 333, the second clamp 332b rotates around the pin 332d to move closer to the first clamp 332a. The first clamping surface 334 and the second clamping surface 335 remain in contact with the dimming lens under the pulling force of the elastic telescopic member 333, thereby clamping the dimming lens in the clamp 332c. The elastic telescopic member 333 can be a spring, elastic sponge, or elastic rubber, etc.

[0091] Of course, the second gripper 332b can also be connected to the gripping base 331 in other movable connection ways, for example: The second gripper 332b can also be slidably connected to the clamping base 331. The second gripper 332b can slide on the clamping base 331 to move away from or closer to the first gripper 332a in order to adjust the size of the clamping opening 332c, thereby facilitating the placement and removal of the dimming lens in the clamping opening 332c.

[0092] It should also be noted that the first gripper 332a is preferably fixedly connected to the clamping base 331. Of course, depending on the actual needs, the first gripper 332a can also be connected to the clamping base 331 by a sliding connection or a rotating connection.

[0093] See also Figure 12 As shown, in a preferred embodiment, when the dimming lens is clamped in the clamp 332c, the shape of the clamp 332c is the same as the shape of the outer contour of the dimming lens. The first clamping surface 334 and the second clamping surface 335 are in contact with the dimming lens, so that the dimming lens is more securely clamped by the first jaw 332a and the second jaw 332b, preventing the dimming lens from falling out of the clamp 332c. For example, when the outer contour of the dimming lens is circular, the first clamping surface 334 and the second clamping surface 335 are both curved surfaces, and when the dimming lens is clamped in the clamp 332c, the shape of the clamp 332c is also circular.

[0094] like Figure 13 As shown, the adjustment mechanism 34 includes a first adjustment structure 341, a second adjustment structure 342, a third adjustment structure 343, a fourth adjustment structure 344, and a fifth adjustment structure 345. The first adjustment structure 341 is connected to the clamping base 331 and is used to adjust the position of the clamping base 331 in the first rotation direction. The second adjustment structure 342 is connected to the first adjustment structure 341 and is used to adjust the position of the first adjustment structure 341 in the second rotation direction, thereby adjusting the position of the dimming lens in the second rotation direction. The third adjustment structure 343 is connected to the second adjustment structure 345. The second adjustment structure 342 is connected to the third adjustment structure 343, which is used to adjust the position of the second adjustment structure 342 in the first sliding direction, so as to adjust the position of the dimming lens in the first sliding direction; the fourth adjustment structure 344 is connected to the third adjustment structure 343, which is used to adjust the position of the third adjustment structure 343 in the second sliding direction, so as to adjust the position of the dimming lens in the second sliding direction; the fifth adjustment structure 345 is connected to the fourth adjustment structure 344, which is used to adjust the position of the fourth adjustment structure 344 in the third sliding direction, so as to adjust the position of the dimming lens in the third sliding direction.

[0095] It is understandable that when the first adjustment structure 341 adjusts the position of the clamping base 331 in the first rotation direction, the rotation direction drives the lens clamping mechanism 33 and the dimming lens to move synchronously, thereby adjusting the position of the dimming lens in the first rotation direction; when the second adjustment structure 342 adjusts the position of the first adjustment structure 341 in the second rotation direction, the first adjustment structure 341 drives the lens clamping mechanism 33 and the dimming lens to move synchronously, thereby adjusting the position of the dimming lens in the second rotation direction; when the third adjustment structure 343 adjusts the position of the second adjustment structure 342 in the first sliding direction, the second adjustment structure 342 drives the first adjustment structure 341, the lens clamping mechanism 33, and the dimming lens to move synchronously. This allows the position of the dimming lens to be adjusted in the first sliding direction; when the fourth adjustment structure 344 adjusts the position of the third adjustment structure 343 in the second sliding direction, the third adjustment structure 343 drives the second adjustment structure 342, the first adjustment structure 341, the lens clamping mechanism 33, and the dimming lens to move synchronously, thereby adjusting the position of the dimming lens in the second sliding direction; when the fifth adjustment structure 345 adjusts the position of the fourth adjustment structure 344 in the third sliding direction, the fourth adjustment structure 344 drives the third adjustment structure 343, the second adjustment structure 342, the first adjustment structure 341, the lens clamping mechanism 33, and the dimming lens to move synchronously, thereby adjusting the position of the dimming lens in the third sliding direction.

[0096] For details, please refer to [link / reference]. Figure 13 As shown, the first adjustment structure 341 includes a first moving member 341a and a first base 341b; the second adjustment structure 342 includes a second rotating disk 342a and a second base 342b; the third adjustment structure 343 includes a third moving member 343a and a third base 343b; the fourth adjustment structure 344 includes a fourth moving member 344a and a fourth base 344b; and the fifth adjustment structure 345 includes a fifth moving member 345a and a fifth base 345b.

[0097] Among them, the fifth base 345b is connected to the support base 35, and the fifth moving part 345a is slidably connected to the fifth base 345b along the third sliding direction; the fourth base 344b is fixedly connected to the fifth moving part 345a, and the fourth moving part 344a is slidably connected to the fourth base 344b along the second sliding direction; the third base 343b is fixedly connected to the fourth moving part 344a, and the third moving part 343a is slidably connected to the third base 343b along the first sliding direction; the second base 342b is fixedly connected to the third moving part 343a, and the second rotating disk 342a is rotatably connected to the second base 342b around its axis, and the axis of the second rotating disk 342a is perpendicular to the plane containing the second rotation direction; the first base 341b is fixedly connected to the second rotating disk 342a, and the first moving part 341a is rotatably connected to the first base 341b along the first rotation direction.

[0098] See also Figure 13 As shown, a scale can be set on the circumference of the second rotating disk 342a. When rotating the second rotating disk 342a, the rotation range of the second rotating disk 342a can be known by reading the value on the scale, thereby achieving the purpose of precise adjustment.

[0099] It should be noted that the driving force for the movement of the first moving part 341a, the second rotating disk 342a, the third moving part 343a, the fourth moving part 344a, and the fifth moving part 345a can be the mechanical driving force provided by power devices such as motors, cylinders, or hydraulic cylinders. Of course, the driving force for the movement of the first moving part 341a, the second rotating disk 342a, the third moving part 343a, the fourth moving part 344a, and the fifth moving part 345a can also be human power.

[0100] To facilitate manual operation of the first moving part 341a, the second rotating disk 342a, the third moving part 343a, the fourth moving part 344a, and the fifth moving part 345a, see further. Figure 13 As shown, the first adjustment structure 341 also includes a first connecting rod 341c, which is fixedly connected to the first moving member 341a. The operator can rotate the first moving member 341a through the first connecting rod 341c.

[0101] The second adjustment structure 342 may further include a second rotating shaft 342c, a first transmission bevel gear (not shown in the figure), and a second transmission bevel gear (not shown in the figure) that cooperates with the first transmission bevel gear. The second rotating shaft 342c is rotatably connected to the second base 342b about the axial direction of the second rotating shaft 342c. The axial direction of the second rotating shaft 342c is perpendicular to the axial direction of the second rotating disk 342a. The first transmission bevel gear is fixed on the second rotating shaft 342c, and the second transmission bevel gear is fixed on the second rotating disk 342a. The axis of the second transmission bevel gear coincides with the axis of the second rotating disk 342a. By rotating the second rotating shaft 342c, the first transmission bevel gear can be driven to rotate, thereby driving the second transmission bevel gear and the second rotating disk 342a to rotate.

[0102] The third adjustment structure 343 may further include a first screw 343c, which is arranged along the first sliding direction. The first screw 343c passes through the third moving member 343a and is threadedly connected to the third moving member 343a. The first screw 343c is rotatably connected to the third base 343b around the first sliding direction. Rotating the first screw 343c can drive the third moving member 343a to move along the first sliding direction.

[0103] The fourth adjustment structure 344 may further include a second screw 344c, which is arranged along the second sliding direction. The second screw 344c passes through the fourth moving member 344a and is threadedly connected to the fourth moving member 344a. The second screw 344c is rotatably connected to the fourth base 344b around the second sliding direction. Rotating the second screw 344c can drive the fourth moving member 344a to move along the second sliding direction.

[0104] The fifth adjustment structure 345 may also include a third screw 345c, which is arranged along the third sliding direction. The third screw 345c passes through the fifth moving member 345a and is threadedly connected to the fifth moving member 345a. The third screw 345c is rotatably connected to the fifth base 345b around the third sliding direction. Rotating the third screw 345c can drive the fifth moving member 345a to move along the third sliding direction.

[0105] like Figure 14 As shown, in an exemplary embodiment, the lens adjustment mechanism 32 further includes a support base 35. The fifth base 345b is slidably connected to the support base 35 along the first sliding direction. When the dimming lens is clamped in the clamp 332c, the first sliding direction is parallel to the optical axis direction of the dimming lens. The sliding stroke of the first base 341b in the first sliding direction is a, and the sliding stroke of the third moving member 343a in the first sliding direction is b. a is greater than b.

[0106] In another exemplary embodiment, the fifth base 345b and the support 35 are slidably connected along the second sliding direction. When the dimming lens is clamped in the clamp 332c, the second sliding direction is parallel to the optical axis direction of the dimming lens. The sliding stroke of the fifth base 345b in the second sliding direction is m, and the sliding stroke of the fourth moving member 344a in the first sliding direction is n, where m is greater than n.

[0107] In another exemplary embodiment, the fifth base 345b can also be slidably connected to the support 35 along the third sliding direction. When the dimming lens is clamped in the clamp 332c, the third sliding direction is parallel to the optical axis direction of the dimming lens. The sliding stroke of the first base 341b in the third sliding direction is a, and the sliding stroke of the fifth moving member 345a in the third sliding direction is b, where a is greater than b.

[0108] It should be noted that, taking the first sliding direction as parallel to the optical axis of the dimming lens, and the fifth base 345b and the support 35 slidingly connected along the first sliding direction as an example, when the fifth base 345b slides relative to the support 35, it will drive the other parts of the adjustment mechanism 34 to slide synchronously, thereby adjusting the distance between the entire adjustment mechanism 34 and the second housing bracket 31. When the third moving part 343a slides relative to the third base 343b along the first sliding direction, it can only drive the second adjustment structure 342 and the first adjustment structure 341 to slide synchronously. The fifth base 345b has a large stroke in the first sliding direction, which can better adjust the positional relationship between the entire adjustment mechanism 34 and the second housing bracket 31. The third moving part 343a has a small stroke in the first sliding direction, which can more accurately adjust the position of the dimming lens in the first sliding direction.

[0109] Specifically, such as Figure 15 As shown, the second housing support 31 may be provided with a receiving groove for placing the housing 21. When installing the dimming lens, the housing 21 is placed in the receiving groove to limit the housing 21 and prevent the housing 21 from separating from the second housing support 31.

[0110] Furthermore, a limiting baffle 37 is provided on the second housing support 31. When the housing 21 is placed in the receiving groove, the housing 21 is sandwiched between the second housing support 31 and the limiting baffle 37. The limiting baffle 37 can prevent the housing 21 from separating from the second housing support 31. The limiting baffle 37 can be connected to the second housing support 31 by a detachable connection method such as snap-fit ​​connection, threaded connection or snap-fit, so as to facilitate the placement and removal of the housing 21 in the receiving groove.

[0111] Taking the dimming lens being held in the clamp 332c, with the second sliding direction parallel to the optical axis of the dimming lens as an example, in this embodiment, the process of using the lens adjustment device 30 to assist in the installation of the dimming lens can be as follows: K21. Install the light emitting plate 22 and the light receiving plate 23 onto the housing 21; K22. Place the housing 21 in the receiving groove of the second housing support 31, adjust the position of the housing 21, and then fix the housing 21 on the second housing support 31. K23, clamp the dimming lens in the clamp 332c of the lens clamping mechanism 33; K24. Slide the fifth base 345b along the second sliding direction toward the housing 21, so as to drive the entire adjustment mechanism 34, the lens clamping mechanism 33 and the dimming lens to slide toward the housing 21, so that the dimming lens is initially positioned at the preset lens position on the housing 21. K25. Using the calibration plate 36 as the target object, the light emitting plate 22 emits a probe beam. The probe beam passes through the emitting lens 24 and is directed toward the calibration plate 36. The receiving lens 25 receives the probe echo beam reflected back from the calibration plate 36 and directs the probe echo beam toward the light receiving plate 23. The light receiving plate 23 receives the probe echo beam and outputs the corresponding electrical signal. Then, the signal processing device processes the electrical signal corresponding to the echo beam appropriately to form a point cloud map. K26. Determine the optical effect of the laser rangefinder 20 based on the point cloud data in the point cloud diagram. Based on the optical effect of the laser rangefinder 20, adjust the relative position of the transmitting lens 24 and the receiving lens 25 through the lens adjustment mechanism 32 so that the optical effect of the laser rangefinder 20 meets the preset requirements. This means that the relative positional relationship between the transmitting lens 24 and the receiving lens 25 meets the preset relationship. Then, install the transmitting lens 24 and the receiving lens 25 on the housing 21.

[0112] In one exemplary embodiment, the first plate 221 and the second plate 231 are integrally formed to provide the integration of the laser rangefinder 20, thereby saving manufacturing costs.

[0113] Of course, the first plate 221 and the second plate 231 can also be independent of each other. When installing the light emitting plate 22, the plate adjustment device 10 can be used to assist in the installation of the light emitting plate 22.

[0114] The above are merely preferred embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A plate adjustment device, characterized in that, For use in assembling an auxiliary laser ranging device, the laser ranging device includes a housing, a light emitting plate, and a light receiving plate. One side of the housing has a first mounting surface for mounting the light emitting plate and a second mounting surface for mounting the light receiving plate. The plate adjustment device includes: A first housing support is provided for placing the housing, and the first housing support is provided with an opening; A plate clamping mechanism is used to clamp the light emitting plate; A first adjustment mechanism is connected to the plate clamping mechanism. The first adjustment mechanism is used to adjust the position of the plate clamping mechanism in order to adjust the position of the light emitting plate. An image acquisition module is used to capture images of the light emitting plate and the light receiving plate to determine their relative positions. The second adjustment mechanism is connected to the first housing support, and the second adjustment mechanism is used to adjust the position of the first housing support. When the light emitting plate is installed, the housing is placed on the first housing support, the first mounting surface and the second mounting surface are exposed through the opening, and the plate clamping mechanism is located on the side of the housing where the first mounting surface and the second mounting surface are provided.

2. The plate adjustment device according to claim 1, characterized in that, The plate clamping mechanism includes: Support components; A clamping member is used to clamp the light emitting plate. The clamping member is slidably connected to the support member along a first degree of freedom of movement, which is parallel to the optical axis of the image capturing module. An elastic element is connected to the clamping member and the supporting member. The elastic extension direction of the elastic element is parallel to the first degree of freedom of movement. When the light emitting plate is installed, the elastic element undergoes elastic deformation under the pressure of the supporting member and the clamping member, so that the light emitting plate abuts against the first mounting surface. The first adjustment mechanism is connected to the support member. The first adjustment mechanism is used to adjust the position of the support member in the second degree of freedom, the third degree of freedom, and the first degree of rotational freedom, so as to adjust the position of the clamping member and the light emitting plate in the second degree of freedom, the third degree of freedom, and the first degree of rotational freedom. The second degree of freedom, the third degree of freedom, and the first degree of freedom are perpendicular to each other, and the plane of the first degree of rotational freedom is perpendicular to the first degree of freedom.

3. The plate adjustment device according to claim 2, characterized in that, The clamping element includes: The connecting part is slidably connected to the support member along the first degree of freedom of movement. The elastic member is connected to the connecting part. When the light emitting plate is installed, the elastic member undergoes elastic deformation under the pressure of the support member and the connecting part, so that the light emitting plate abuts against the first mounting surface. The claw has a jaw for holding the light emitting plate. The claw is mounted on the connecting part. When the light emitting plate is installed, the claw tip faces the housing. A limiting part is disposed on and connected to the connecting part. The limiting part and the claw are arranged along the third degree of freedom of movement. When the light emitting plate is held in the slot, the limiting part abuts against the side of the light emitting plate away from the housing.

4. The plate adjustment device according to claim 2, characterized in that, The first adjustment mechanism includes: First support; A first adjustment structure is connected to the support member, and the first adjustment structure is used to adjust the position of the support member in the first degree of rotational freedom; The second adjustment structure is connected to the first adjustment structure. The second adjustment structure is used to adjust the position of the first adjustment structure in the second degree of freedom of movement, so as to adjust the position of the support member in the second degree of freedom of movement. A third adjustment structure is installed on the first support. The third adjustment structure is connected to the second adjustment structure. The third adjustment structure is used to adjust the position of the second adjustment structure in the third degree of freedom of movement, so as to adjust the position of the support member in the third degree of freedom of movement.

5. The plate adjustment device according to claim 4, characterized in that, The first adjustment structure includes a first rotating disk and a first adjustment base; the second adjustment structure includes a second moving stage and a second adjustment base; and the third adjustment structure includes a third moving stage and a third adjustment base. The third adjustment base is mounted on the first support, and the third moving stage is slidably connected to the third adjustment base along the third degree of freedom of movement; the second adjustment base is fixed on the third moving stage, and the second moving stage is slidably connected to the second adjustment base along the second degree of freedom of movement; the first adjustment base is fixed on the second moving stage, the first rotating disk is rotatably connected to the first adjustment base around its axial direction, and the support member is fixed on the first rotating disk.

6. The plate adjustment device according to claim 1, characterized in that, The second adjustment mechanism includes: The first support platform, the first housing bracket and the first support platform are slidably connected along the first degree of freedom of movement, the first degree of freedom of movement is parallel to the optical axis direction of the image capturing module.

7. The plate adjustment device according to claim 6, characterized in that, The second adjustment mechanism includes: The second support platform is slidably connected to the first support platform along the second degree of freedom of movement, which is parallel to the horizontal plane and perpendicular to the first degree of freedom of movement. The grating ruler extends along the second degree of freedom of movement; A reading head is mounted on the first support platform. The reading head is used in conjunction with the grating ruler to measure the distance the first support platform moves in the second degree of freedom of movement.

8. The plate adjustment device according to claim 1, characterized in that, The plate adjustment device further includes: The third adjustment mechanism is connected to the image capturing module and is used to adjust the position of the image capturing module.

9. The plate adjustment device according to claim 8, characterized in that, The third adjustment mechanism includes: Second support; The fourth adjustment structure is connected to the image acquisition module. The fourth adjustment structure is used to adjust the position of the image acquisition module in the first rotational degree of freedom. The plane where the first rotational degree of freedom is located is perpendicular to the optical axis of the image acquisition module. The fifth adjustment structure is installed on the second support and is connected to the fourth adjustment structure. The fifth adjustment structure is used to adjust the position of the fourth adjustment structure in the third degree of freedom of movement, so as to adjust the position of the image capturing module in the third degree of freedom of movement, which is perpendicular to the horizontal plane.

10. The plate adjustment device according to claim 9, characterized in that, The fourth adjustment structure includes a fourth adjustment base and a fourth moving stage, and the fifth adjustment structure includes a fifth adjustment base and a fifth moving stage. The fifth adjustment base is mounted on the second support, the fifth movable stage is slidably connected to the fifth adjustment base along the third degree of freedom of movement, the fourth adjustment base is fixed on the fifth sliding stage, the fourth movable stage is rotatably connected to the fourth adjustment base, the fourth movable stage rotates along the first degree of freedom of rotation, and the image acquisition module is fixed to the fourth movable stage.

11. A light-adjusting platform, characterized in that, The laser ranging device further includes a transmitting lens and a receiving lens, and the optical adjustment platform includes a fixed base, a lens adjustment device, and a plate adjustment device as described in any one of claims 1 to 10. The plate adjustment device and the lens adjustment device are both mounted on the fixed base. The lens adjustment device is used to assist the emitting lens and the receiving lens in being mounted on the housing after the light emitting plate and the light receiving plate are mounted on the housing.

12. A laser ranging device, characterized in that, include: A housing, wherein one side of the housing has a first mounting surface and a second mounting surface; A light emitting plate is mounted on the first mounting surface, and the light emitting plate is used to emit a detection beam. A transmitting lens is mounted on the housing and located on the light-emitting side of the light-emitting plate. The transmitting lens is used to receive the detection beam emitted by the light-emitting plate and direct the detection beam toward the target object. Optical receiver board; A receiving lens is mounted on the housing and located on the light-incident side of the light receiving plate. The receiving lens and the light receiving plate are arranged along the optical axis of the receiving lens. The receiving lens is used to receive the detection echo beam reflected back by the target object and direct the detection echo beam toward the light receiving plate so that the light receiving plate receives the detection echo beam. The housing is provided with a first transmission channel and a second transmission channel. The first transmission channel is used to transmit the detection beam emitted by the light emitting plate to the emitting lens, and the second transmission channel is used to transmit the detection echo beam passing through the receiving lens to the light receiving plate. The laser ranging device uses the light adjustment platform described in claim 11 to adjust the relative positions between the light emitting plate and the light receiving plate, as well as the emitting lens and the receiving lens.

Images