Surface-mounting equipment for surface-mounted rotating mirror in vehicle-mounted laser radar

Abstract

The invention discloses a mounting device for a surface-mounted rotating mirror in a vehicle-mounted laser radar. Comprising a working platform, a framework positioning module, at least one reflector adsorption module and an angle detection module, wherein the framework positioning module is arranged on the working platform and is used for fixing a rotating mirror framework; the reflector adsorption module is used for adsorbing a reflector and attaching the adsorbed reflector to the rotating mirror framework; the angle detection module is used for detecting the angle of the reflector; the reflector adsorption module is arranged around the framework positioning module, and the angle detection module is matched with the reflector adsorption module. And the controller generates a corresponding angle adjustment signal according to detection data of the angle detection module and controls the reflector angle adjustment mechanism to adjust the angle of the adsorbed reflector. The reflector surface mounting device has the advantage that the surface mounting precision and the surface mounting efficiency of the reflector can be improved.

Description

Technical Field

[0001] The present invention relates to a processing device for a vehicle-mounted laser radar, and in particular to a mounting device for a patch rotating mirror in a vehicle-mounted laser radar. Background Art

[0002] The patch mirror is one of the core components in the automotive LiDAR scanning system. It is mainly composed of a central mirror frame and multiple reflectors in the outer circle. The rotation of the patch mirror is used to control the scanning of the light beam back and forth in the entire scene. Its quality directly affects the scanning accuracy of the LiDAR. The quality of the patch mirror can be characterized by the spatial angle deviation and surface shape accuracy of the reflector. If there is a deviation in the spatial angle, the light beam is not reflected at the specified angle, the scanning light cannot completely cover the entire scene, and the obtained scene information will be incomplete; if there is a deviation in the surface shape accuracy, part of the scanning light deviates from the specified path, which will cause the scene information to be distorted. These two indicators can be controlled during the mounting process of the reflector. The usual steps of the mounting process are: grabbing the reflector, applying glue to the mounting surface of the mirror frame, mounting the reflector on the mounting surface, and curing. In the two steps of grabbing the reflector and mounting the reflector on the mounting surface, there are the following key points: 1) The spatial angle of the reflector includes the vertical angle and the internal angle, which are difficult to control during the mounting process. The vertical angle refers to the angle between the reflector plane and the rotating mechanical axis of the patch rotating mirror, which determines whether the patch rotating mirror is prism-shaped or tower-shaped, and sometimes can affect the distance between different scanning lights, that is, the vertical field of view angle; the internal angle refers to the angle between different reflector planes, which determines the size of each reflector of the patch rotating mirror and affects the horizontal field of view angle of different scanning lights. The invention patent with the Chinese patent application number 202311237032.9 and the name of "rotating mirror and its lens mounting method, laser radar scanning system, laser radar" provides a reflector lens mounting method, which is assisted by horizontal and vertical projection reference light, and the reference light and the rotating mirror reflected light are compared to adjust the reflector, reduce the lens mounting process cost, set different projection optical path control precision, and improve the rotating mirror qualification rate; however, the technical solution of this patent only considers that press-fitting will affect the reflector surface shape, and does not specifically describe the way to grab the reflector lens; and is limited by the projection area, only one reflector is mounted at a time, and the efficiency needs to be improved.

[0003] 2) The surface shape accuracy of the reflector is greatly affected by the assembly process. The reflector is easily squeezed when placed on the rotating mirror frame, and the shrinkage of the glue during curing will also change the surface shape. The utility model patent with Chinese patent number CN202320738239.3 and the name of "Fully Automatic Laser Radar Reflector AA Equipment and Laser Radar Assembly Mechanism" provides a reflector installation device in a laser radar complete machine. The reflector is placed in a groove-type fixed position, and the deformation of the reflector is small, which has little effect on the reflector surface shape; the position accuracy of the reflector is controlled according to the detection beam and spot position; and the production efficiency is improved through fully automatic equipment; but the reflector in this application is installed in the complete machine and cannot be fully applied to the mounting of patch rotating mirrors.

[0004] 3) The patch mirror contains multiple reflective sides. To improve efficiency, the reflector can be directly mounted without debugging, but the accuracy is poor. In addition, in terms of assembly equipment, manual assembly equipment is inefficient and not suitable for mass production. Fully automated equipment has high production efficiency, but the R&D cost is also high. The invention patent with Chinese patent application number CN202110727687.9 and the name of "A laser radar reflector calibration and assembly equipment" provides a mounting device. The device uses multiple motors, has a high degree of automation, and has high mounting efficiency. However, a rotating motor is used to rotate the mirror, and only one reflector is mounted at a time. The AA mechanism is used to clamp the mobile reflector. The AA mechanism includes multiple adjustment components such as a dual-axis moving mechanism, a rotating disk, and a rotating arm, which can achieve fine-tuning of five degrees of freedom, but the volume is large. The matching detection mechanism is a camera, which adjusts the reflector angle according to the coordination effect of the reflector and the skeleton photographed, and the control of the spatial angle accuracy of the reflector is poor. The lens to be mounted is sucked by a nozzle and then clamped by a clamp. There is still a problem that the reflector affects the surface accuracy after being squeezed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a mounting device for a patch rotating mirror in a vehicle-mounted laser radar, which can improve the mounting efficiency of the patch rotating mirror and improve the mounting accuracy of the reflector.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a mounting device for a patch rotating mirror in a vehicle-mounted laser radar, comprising a working platform and a skeleton positioning module arranged on the working platform for fixing a rotating mirror skeleton, at least one reflector adsorption module for adsorbing a reflector and attaching the adsorbed reflector to the rotating mirror skeleton, and an angle detection module for detecting the angle of the reflector, the reflector adsorption module is arranged around the skeleton positioning module, the angle detection module is arranged in coordination with the reflector adsorption module, the reflector adsorption module is provided with a reflector angle adjustment mechanism with a controller, the controller generates a corresponding angle adjustment signal according to the detection data of the angle detection module and controls the reflector angle adjustment mechanism to adjust the angle of the adsorbed reflector.

[0007] Compared with the prior art, the advantage of the present invention is that a reflector angle adjustment mechanism with a controller is provided on the reflector adsorption module, and the angle of the adsorbed reflector is adjusted according to the detection data of the angle detection module, thereby improving the reflector mounting accuracy and mounting efficiency.

[0008] Preferably, the reflector adsorption module includes a suction nozzle for adsorbing the reflector, the reflector angle adjustment mechanism includes a controller and a six-dimensional translation stage fixed on the working platform, the suction nozzle is arranged on the six-dimensional translation stage, the controller drives the six-dimensional translation stage to adjust the angle of the reflector adsorbed by the suction nozzle according to the detection data of the angle detection module, the suction nozzle is provided with a limit sleeve which can slide relative to the suction nozzle, the limit sleeve is provided with a waist-shaped limit sleeve fixing hole, the limit sleeve fixing hole is provided with a positioning screw, and the positioning screw passes through the limit sleeve fixing hole and is threadedly connected to the suction nozzle. After preliminarily determining that the reflector and the rotating mirror frame correspond to each other through the six-dimensional translation stage and the skeleton positioning module that fixes the rotating mirror frame, use a limit sleeve to ensure that the mounting position of the reflector does not deviate from the preset position, and then push the suction nozzle to attach the reflector. The suction nozzle designed according to the angle characteristics of the patch rotating mirror can control the spatial angle of the reflector when it is mounted on the rotating mirror frame. The angle detection module is then used for real-time detection. The controller generates a corresponding angle adjustment signal based on the detection data of the angle detection module to drive the six-dimensional translation stage to fine-tune the reflector in six degrees of freedom, thereby improving the accuracy of the reflector mounting angle and achieving the effect of improving the laser radar scanning accuracy.

[0009] Preferably, the suction surface of the suction nozzle is provided with a suction ring groove, and the suction ring groove is connected to a vacuum suction hole connected to a vacuum generator provided on the suction nozzle. This structure can control the surface flatness of the suction nozzle, and when the suction nozzle vacuum absorbs the reflector, the surface deformation of the reflector is reduced, thereby improving the surface accuracy of the reflector.

[0010] Preferably, the suction surface of the suction nozzle is provided with a detection hole that is transparent from front to back, and the angle detection module includes a collimator located outside the suction nozzle, and the detection light beam emitted by the collimator passes through the detection hole and is incident on the back of the reflector adsorbed on the suction nozzle. This structure can realize real-time detection of the reflector angle during the mounting process.

[0011] Preferably, the angle detection module comprises a bracket fixedly mounted on the working platform, the bracket is provided with a three-dimensional collimator adjustment platform, and the collimator is arranged on the three-dimensional collimator adjustment platform. This structure can ensure that the direction of the detection beam can be conveniently adjusted.

[0012] Preferably, the number of the reflector adsorption modules is the same as the number of reflectors to be mounted, and the number of the angle detection modules is the same as the number of the reflector adsorption modules. According to the number of reflectors required to be mounted for different patch rotating mirrors, a corresponding number of reflector adsorption modules and corresponding angle detection modules are used to simultaneously mount a patch rotating mirror, which can improve the mounting efficiency of the reflector, reduce the volume of the equipment, and reduce the manufacturing cost.

[0013] Preferably, the skeleton positioning module comprises a skeleton positioning block, a three-dimensional skeleton translation stage and a clamping mechanism disposed on the three-dimensional skeleton translation stage, the skeleton positioning block is clamped and fixed by the clamping mechanism, the top of the skeleton positioning block is provided with a skeleton fixing hole for fixing the rotating mirror skeleton, and the side wall of the skeleton positioning block is provided with a skeleton positioning column for fixing the direction of the rotating mirror skeleton. When the rotating mirror skeleton is placed, the direction of the rotating mirror skeleton can be determined according to the relative complementary structure of the rotating mirror skeleton and the skeleton positioning column, and then the rotating mirror skeleton is pressed against the skeleton positioning block using screws through the skeleton fixing hole to improve stability.

[0014] Preferably, the placement device further comprises a surface shape detection module, and the surface shape detection module is used to perform surface shape detection on the reflector in the placement mirror after placement is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the mounting device of the patch rotating mirror provided in the embodiment of the present invention when mounting the tower-type rotating mirror; Figure 2 It is a schematic diagram of the three-dimensional structure of the mounting device of the patch rotating mirror provided in the embodiment of the present invention when mounting the prismatic rotating mirror; Figure 3 It is a structural schematic diagram of a skeleton positioning module of a patch rotating mirror mounting device provided by an embodiment of the present invention; Figure 4 It is a structural schematic diagram of a reflector adsorption module of a patch rotating mirror mounting device provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the structure of the suction nozzle specially used for the tower-type rotating mirror in the reflector adsorption module; Figure 6 It is a structural schematic diagram of a limit sleeve specially used for a tower-type rotating mirror in a reflector adsorption module; Figure 7 It is a schematic diagram of the structure of a suction nozzle specially used for a prismatic rotating mirror in a reflector adsorption module; Figure 8 It is a structural schematic diagram of a limit sleeve specially used for a prismatic rotating mirror in a reflector adsorption module; Fig. 9 It is a structural schematic diagram of an angle detection module of a mounting device for a patch rotating mirror provided in an embodiment of the present invention; Fig.10 It is a schematic diagram of the three-dimensional structure of a surface shape detection module of a patch rotating mirror mounting device provided by an embodiment of the present invention; Fig.11 yes Fig.10 The structural schematic diagram of the surface detection platform in the surface detection module shown; Fig.12 It is a flow chart of the working principle of performing patch rotating mirror mounting using the patch rotating mirror mounting equipment provided by the embodiment of the present invention.

[0016] Numbers in the figure: 1. Skeleton positioning module; 11. Skeleton positioning block; 111. Skeleton fixing hole; 112. Skeleton positioning column; 12. Clamping mechanism; 121. Positioning block clamping three-claw; 122. Three-claw cylinder; 13. Three-dimensional skeleton translation stage; 131. Tz skeleton adjustment stage; 132. XY skeleton dual-axis adjustment stage; 2. Reflector adsorption module; 21. Limit sleeve; 211. Limit sleeve fixing hole; 22. Suction nozzle; 221. Vacuum suction hole; 222. Detection hole; 223. Suction ring groove; 23. Universal suction nozzle adapter plate; 24. Slide cylinder; 25. Six-dimensional translation stage; 251. X-axis adjustment stage; 252. Y-axis adjustment stage; 253. Z-axis adjustment stage; 254. Tx adjustment stage; 255. Ty adjustment stage; 256. Tz adjustment stage; 3. Vacuum generator; 4. Angle detection module; 41. Collimator; 42. Three-dimensional collimator adjustment table; 421. Tz adjustment knob; 422. Ty adjustment knob; 423. Fastening adjustment; 43. Bracket; 5. Working platform; 61. Surface detection table; 62. Two-dimensional rotating mirror turntable; 621. Tz rotating mirror turntable; 622. Ty rotating mirror turntable; 63. Interferometer; 100. Complete the mounting of the patch mirror. DETAILED DESCRIPTION

[0017] The following is a detailed explanation of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are for reference and illustration only and do not constitute a limitation on the scope of patent protection of the present application. The same or similar numbers throughout represent the same or similar elements or elements with the same or similar functions.

[0018] The described embodiments and the illustrated drawings are part of the examples of this application, but not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] In this application, unless otherwise clearly specified or limited, the terms "connected", "fixed to", and "placed" should be understood in a broad sense, for example, it can be directly connected, it can be connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0020] Example:

[0021] The present application provides a mounting device for a patch mirror in a vehicle-mounted laser radar, such as Figure 1 and Figure 2 As shown, it mainly includes a skeleton positioning module 1, a reflector adsorption module 2, a vacuum generator 3, multiple angle detection modules 4, a working platform 5, and a surface detection module. A skeleton positioning module 1, multiple reflector adsorption modules 2 and multiple angle detection modules 4 are fixedly arranged on the surface of the working platform 5. The skeleton positioning module 1 is located in the center, the reflector adsorption module 2 and the angle detection module 4 are arranged around the skeleton positioning module 1, and the angle detection module 4 is located on the outside of the reflector adsorption module 2. During mounting, the rotating mirror skeleton is placed on the skeleton positioning module 1, and the reflector to be mounted is adsorbed on the reflector adsorption module 2. Multiple reflector adsorption modules 2 work at the same time, and multiple reflectors of the mounting rotating mirror can be mounted at the same time, thereby improving the mounting efficiency; at the same time, the angle detection module 4 emits a laser beam that passes through the reflector adsorption module 2 and then vertically impinges on the back of the reflector adsorbed on the reflector adsorption module 2 and then returns along the original path. The controller of the reflector angle adjustment mechanism in the reflector adsorption module 2 generates a corresponding angle adjustment signal according to the angle of the laser beam detected by the angle detection module 4, and controls the reflector angle adjustment mechanism to adjust the angle of the adsorbed reflector to ensure the accuracy of the reflector mounting angle and improve the finished product yield.

[0022] Figure 1 and Figure 2 The patch mirror shown is a tetrahedron mirror, but the patch mirror mounting device in a vehicle-mounted laser radar provided by the present invention can also be used in a trihedron mirror, a pentahedron mirror or a polyhedron mirror. Figure 1 The rotating mirror in the system is in the shape of a tower, and the plane of the reflector is not parallel to the mechanical axis of the rotating mirror. Figure 2 The shape of the rotating mirror is prismatic, and the plane of the reflector is parallel to the mechanical axis of the rotating mirror. After adjusting the number and angle of the reflector adsorption module 2 and the angle detection module 4, it can be applied to a variety of patch rotating mirror processing, which is flexible to use and can save equipment development costs.

[0023] Skeleton positioning module 1 Figure 3 As shown, it mainly includes a skeleton positioning block 11, a clamping mechanism 12, and a three-dimensional skeleton translation stage 13, wherein the clamping mechanism 12 is arranged on the three-dimensional skeleton translation stage 13, and the skeleton positioning block 11 is clamped and fixed by the clamping mechanism 12. The three-dimensional skeleton translation stage 13 in the skeleton positioning module 1 includes: a Tz skeleton adjustment stage 131 and an XY skeleton two-axis adjustment stage 132. The Tz skeleton adjustment stage 131 is arranged on the XY skeleton two-axis adjustment stage 132. The two control the position of the skeleton positioning block 11 in space. The accuracy of attaching the reflector to the rotating mirror skeleton can be improved through precise adjustment.

[0024] The clamping mechanism 12 in the skeleton positioning module 1 includes a positioning block clamping three-claw 121 and a three-claw cylinder 122. The bottom of the positioning block clamping three-claw 121 is connected to the three-claw cylinder 122. By starting the three-claw cylinder 122, the positioning block clamping three-claw 121 can be loosened to take out the skeleton positioning block 11. The skeleton positioning block 11 can be flexibly replaced according to actual product requirements.

[0025] The top of the skeleton positioning block 11 in the skeleton positioning module 1 is provided with a skeleton fixing hole 111, and the side wall of the skeleton positioning block 11 is provided with a skeleton positioning column 112. When placing the rotating mirror skeleton, the direction of the rotating mirror skeleton can be determined according to the relative complementary structure of the rotating mirror skeleton and the skeleton positioning column 112, and then the rotating mirror skeleton is pressed onto the skeleton positioning block 11 using screws through the skeleton fixing hole 111 to complete the locking and fixation to improve stability.

[0026] Reflector adsorption module 2 Figure 4 As shown, it mainly includes a limit sleeve 21, a suction nozzle 22, a universal suction nozzle adapter plate 23, a slide cylinder 24 and a six-dimensional translation platform 25. The limit sleeve 21 is sleeved on the outside of the suction nozzle 22, the suction nozzle 22 is connected to the front end of the universal suction nozzle adapter plate 23, the universal suction nozzle adapter plate 23 is connected to the slide cylinder 24, the slide cylinder 24 is set on the six-dimensional translation platform 25, and the direction of the suction nozzle 22 is toward the skeleton positioning module 1.

[0027] like Figure 5~Figure 8As shown, the suction surface of the suction nozzle 22 in the reflector suction module 2 is provided with a suction ring groove 223, and the suction ring groove 223 is connected to the vacuum suction hole 221 on the suction nozzle 22 connected to the vacuum generator 3. The suction ring groove 223 is a groove surrounding the suction surface of the suction nozzle 22, and is connected to the vacuum suction hole 221. When working, it generates a uniform negative pressure to suck the reflector, which can control the surface flatness of the suction nozzle 22, reduce the change of the reflector surface shape, and improve the scanning accuracy of the patch rotating mirror. The suction surface of the suction nozzle 22 is provided with a detection hole 222 for the light beam of the angle detection module 4 to pass through. The detection light beam emitted by the angle detection module 4 passes through the detection hole 222 and is incident on the back of the reflector adsorbed on the suction nozzle 22. At the same time, when angle detection is only used in the mounting process, the number of detection holes 222 can be one; when the mounting mirror is a tower-type mirror and angle detection is required during and after mounting, the number of detection holes 222 can be two, so that the movement of the slide cylinder 24 along the attachment direction of the reflector will not affect the passage of the detection light beam.

[0028] The suction nozzle 22 is provided with a limiting sleeve 21 which can slide relative to the suction nozzle 22. The limiting sleeve 21 is provided with a waist-shaped limiting sleeve fixing hole 211. The limiting sleeve fixing hole 211 is provided with a positioning screw. The positioning screw passes through the limiting sleeve fixing hole 211 and is screwed to the suction nozzle 22. The limiting sleeve 21 can slide relative to the suction nozzle 22. When the limiting sleeve 21 slides to the front end of the suction nozzle 22 and is locked by the positioning screw, it can provide positioning assistance when the reflector is loaded, and improve the accuracy of the spatial position of the subsequent reflector mounting. When or after the reflector is mounted, the limiting sleeve 21 can be slid to the rear end of the suction nozzle 22 and locked to avoid touching the reflector and causing poor mounting. Among them, Figure 5 , Figure 6 The figure shows a suction nozzle 22 and a stopper sleeve 21 for a tower-type rotating mirror, the attachment surface of which is not perpendicular to the ground, and the shape of the stopper sleeve 21 also matches the shape of the reflector; Figure 7 , Figure 8 Shown are a suction nozzle 22 and a limiting sleeve 21 dedicated to a prismatic rotating mirror, the attachment surface of which is perpendicular to the ground, and the shape of the limiting sleeve 21 is a rectangle that matches the shape of the reflecting mirror.

[0029] In the prior art, conventional tools for clamping reflectors are grippers. When two grippers clamp the reflector from the side, squeezing may occur, or the clamping position may be offset, resulting in poor reflector mounting quality. The only advantage is that the exposed reflective surface area is larger, which is convenient for detection. However, the existing suction nozzle is a ventilation cylinder with a small ventilation area. The reflector is subjected to greater pressure and is prone to deformation; or it covers most of the adsorption surface area, leaving no space for detection. The suction nozzle 22 used in the present invention takes these problems into consideration. According to the shape of a specific rotating mirror, a suction nozzle 22 is designed to cover almost the entire surface of the reflector, thereby reducing the deformation of the reflector surface shape. At the same time, a detection hole 222 is set in the middle of the suction nozzle 22 as a light hole to support the passage of the angle detection light beam.

[0030] The function of the universal nozzle adapter plate 23 in the reflector adsorption module 2 is to connect the nozzle 22 and the slide cylinder 24. When the patch rotating mirror is a tower-shaped rotating mirror, the angle detection module 4 emits a light beam that is not parallel to the ground. When the patch rotating mirror is a prism-shaped rotating mirror, the angle detection module 4 emits a light beam parallel to the ground. At this time, in addition to the angle design of the attachment surface of the nozzle 22, the height and angle of the universal nozzle adapter plate 23 can also be changed to adapt to special-shaped rotating mirrors.

[0031] The reflector angle adjustment mechanism in the reflector adsorption module 2 is a six-dimensional translation stage 25, including: an X-direction adjustment stage 251, a Y-direction adjustment stage 252, a Z-direction adjustment stage 253, a Tx adjustment stage 254, a Ty adjustment stage 255, and a Tz adjustment stage 256. Among them, the X direction is the sliding direction of the slide cylinder 24, that is, the x-axis, which is perpendicular to the reflection surface of the rotating mirror; the Z direction is the direction perpendicular to the ground, that is, the z-axis; the Y direction is perpendicular to the X direction and the Z direction, that is, the y-axis.

[0032] The Z-axis adjustment platform 253 in the reflector adsorption module 2 is connected to the slide cylinder 24 to control the height of the slide cylinder 24 in the Z direction. The Z-axis adjustment platform 253 is arranged on the upper part of the six-dimensional translation platform 25, which can reduce the influence of mechanical stiffness on the stability of the six-dimensional translation platform 25.

[0033] The Ty adjustment table 255 in the reflector adsorption module 2 is connected to the Z-axis adjustment table 253 to control the rotation angle of the slide cylinder 24 around the y-axis. The Ty adjustment table 255 is arranged on the upper part of the six-dimensional translation table 25, which can better control the impact of the slight rotation of the suction nozzle 22 around the y-axis.

[0034] The six-dimensional translation stage 25 in the reflector adsorption module 2 is driven by a motor and cooperates with the slide cylinder 24. During the reflector mounting and fine-tuning process, the movement trajectory of the suction nozzle 22 can be controlled by controlling the slide cylinder 24 through the controller. The mounting accuracy can be improved by precisely adjusting the six-dimensional translation stage 25.

[0035] The vacuum generator 3 is arranged on the working platform 5. The movement of the slide cylinder 24 and the adsorption of the suction nozzle 22 can be controlled by the vacuum generator 3 to realize semi-automatic mounting, improve efficiency, ensure mounting stability, and improve the yield rate of the finished rotating mirror.

[0036] Angle detection module 4 Fig. 9 As shown, it includes a collimator 41 , a three-dimensional collimator adjustment platform 42 , and a bracket 43 . The collimator 41 is arranged on the three-dimensional collimator adjustment platform 42 , and the three-dimensional collimator adjustment platform 42 is fixed on the bracket 43 .

[0037] The three-dimensional collimator adjustment platform 42 in the angle detection module 4 includes: a Tz adjustment knob 421, a Ty adjustment knob 422 and a tightening adjustment 423. The collimator 41 is connected to the Tz adjustment knob 421, the Tz adjustment knob 421 is connected to the Ty adjustment knob 422, and the Ty adjustment knob 422 is connected to the tightening adjustment 423. The direction of the light beam emitted by the collimator 41 is the x direction, which is perpendicular to the measured surface of the rotating mirror, the z axis is perpendicular to the ground, and the y axis is perpendicular to the x axis and the y axis respectively.

[0038] The Tz adjustment knob 421 in the angle detection module 4 can control the collimator 41 to rotate around the z-axis, the Ty adjustment knob 422 can control the collimator 41 to rotate around the y-axis, and control the light beam emitted by the collimator 41 to be parallel to the x-axis. The tightening adjustment 423 can control the height of the collimator 41 from the ground, so that the angle detection light beam can be projected onto the surface to be measured of the reflector.

[0039] The laser beam is emitted from the collimator 41, reflected by the reflector, and then received by the collimator 41. Its optical path is relatively long, and a slight angular error of the reflector is manifested as a deviation of the reflected light.

[0040] The mounting device of the patch rotating mirror in the vehicle-mounted laser radar of the present invention realizes the determination of the spatial orientation of the reflector through four steps. The first step is to adjust the six-dimensional translation stage 25 supporting the reflector and the three-dimensional skeleton translation stage 13 supporting the rotating mirror skeleton to initially make the reflector and the rotating mirror skeleton correspond to each other; the second step is to push the limit sleeve 21 forward to the adsorption surface protruding from the suction nozzle 22 and then lock it, use the suction nozzle 22 to adsorb the reflector and use the limit sleeve 21 to make the mounting position of the reflector not deviate from the preset position; the third step is to move the limit sleeve 21 backward to the adsorption surface protruding from the suction nozzle 22 and then lock it, use the slide cylinder 24 to push the suction nozzle 22 to attach the reflector, and the suction nozzle 22 designed according to the angle characteristics of the patch rotating mirror can control the spatial angle when the reflector is mounted on the rotating mirror skeleton; the fourth step is to use the angle detection module 4 for real-time detection, and control the six-dimensional translation stage 25 through the controller to fine-tune the reflector in six degrees of freedom according to the detection data, so as to improve the accuracy of the reflector mounting angle, thereby achieving the effect of improving the laser radar scanning accuracy. The second step uses the external size and position to align the reflector, and the fourth step obtains the spatial angle of the reflector, which is then fed back to the six-dimensional translation stage 25 for fine-tuning, ultimately completing the high-precision placement of the reflector in the patch mirror.

[0041] At the same time, the detection link after the mounting is completed can also be adjusted according to the shape of the patch mirror: if the patch mirror is a tower-shaped mirror, the angles of multiple reflectors can be measured simultaneously; if the patch mirror is a prismatic mirror, the skeleton positioning block 11 can be rotated and only a single angle detection module 4 is used.

[0042] The present invention can also be provided with a surface shape detection module for performing surface shape detection on the reflector in the mounted patch mirror 100. Fig.10 As shown, the surface shape detection module includes a surface shape detection platform 61, a two-dimensional rotating mirror turret 62 and an interferometer 63. The two-dimensional rotating mirror turret 62 is arranged on the surface shape detection platform 61. The two-dimensional rotating mirror turret 62 in the surface shape detection module is shown in FIG. Fig.11 As shown, it includes a Tz mirror turntable 621 and a Ty mirror turntable 622, wherein the Tz mirror turntable 621 is connected to the surface detection platform 61, and the Tz mirror turntable 621 is connected to the Ty mirror turntable 622, wherein the x' axis is parallel to the interferometer beam, the y' axis is parallel to the ground, and the z' axis, the x' axis and the y' axis are perpendicular to each other.

[0043] The Tz mirror turntable 621 in the surface detection module controls the mounted patch mirror 100 to rotate around the z' axis, controls the measured surface of the mounted patch mirror 100 to face the interferometer 63, and at the same time, after the measurement of one measured surface is completed, it rotates and switches to another measured surface. The Ty mirror turntable 622 controls the mounted patch mirror 100 to rotate around the y' axis, so that the measured surface of the mounted patch mirror 100 is perpendicular to the light beam emitted by the interferometer 63.

[0044] The working principle of the mounting device of the present invention is as follows Fig.12 As shown, including: S110, the reflector is loaded onto the suction nozzle 22, and the vacuum generator 3 is started. The suction nozzle 22 generates uniform negative pressure through the vacuum suction hole 221 and the suction ring groove 223 to tightly adsorb the reflector. At this time, the limiting sleeve 21 slides to the front end of the suction nozzle 22 to provide positioning assistance when loading the reflector; S120, placing the rotating mirror frame to be mounted on the frame positioning block 11, determining the direction of the rotating mirror frame by the frame positioning column 112 on the side wall of the frame positioning block 11, and then pressing the rotating mirror frame onto the frame positioning block 11 with screws through the frame fixing hole 111 on the top of the frame positioning block 11, and then applying glue on the surface of the rotating mirror frame to be mounted; S130, start the slide cylinder 24, the slide cylinder 24 drives the universal nozzle adapter plate 23, the nozzle 22, the limit sleeve 21 and the reflector to move in the direction of the rotating mirror frame until the reflector is attached to the surface to be mounted of the rotating mirror frame; S140, when the angle detection module 4 is started, the collimated light beam is emitted from the collimator 41, passes through the universal nozzle adapter plate 23 and the nozzle 22, and reaches the surface of the reflector through the detection hole 222. At this time, if the spatial angle of the reflector meets the requirements, the collimated light beam will return along the original path. Otherwise, the collimated light beam will not return or will be offset. The controller adjusts the six-dimensional translation stage 25 in the reflector adsorption module 2 according to the state of the reflected collimated light beam, and then fine-tunes the angle of the reflector until the collimated light beam reflected by the reflector returns along the original path. S150, turning on the curing light to illuminate the rotating mirror frame and the reflector to cure the glue, and after the reflector is fixed on the rotating mirror frame, turning off the curing light; S160, turn off the vacuum generator 3, after the suction nozzle 22 breaks the vacuum, the reflector is no longer adsorbed on the suction nozzle 22, and at the same time adjust the slide cylinder 24 to make the universal suction nozzle adapter plate 23, the suction nozzle 22 and the limit sleeve 21 return to the original position, completing the mounting of the reflector.

[0045] S170, start the angle detection module 4, the collimated light beam is emitted from the collimator 41, the angle detection process is the same as step S140, after the detection is completed, take out the mounted patch mirror 100; S180, start the surface shape detection module, place the mounted patch mirror 100 on the surface shape detection table 61, adjust the two-dimensional mirror turntable 62 to make the reflector of the surface to be measured perpendicular to the interferometer beam, and after completing one measurement, adjust the Tz mirror turntable 621 to rotate the mounted patch mirror 100, switch to another surface to be measured, and repeat step S180 until the surface shape detection of the reflectors of all the surfaces to be measured of the mounted patch mirror 100 is completed; S190, judging whether the mounting of the mounted rotating mirror 100 is qualified according to the angle detection result of step S170 and the surface shape detection result of step S180.

Claims

1. A mounting device for a patch rotating mirror in a vehicle-mounted laser radar, comprising a working platform and a skeleton positioning module arranged on the working platform for fixing a rotating mirror skeleton, at least one reflector adsorption module for adsorbing a reflector and attaching the adsorbed reflector to the rotating mirror skeleton, and an angle detection module for detecting the angle of the reflector, wherein the reflector adsorption module is arranged around the skeleton positioning module, and the angle detection module is arranged in cooperation with the reflector adsorption module, characterized in that The reflector adsorption module is provided with a reflector angle adjustment mechanism with a controller. The controller generates a corresponding angle adjustment signal according to the detection data of the angle detection module and controls the reflector angle adjustment mechanism to adjust the angle of the adsorbed reflector.

2. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 1, characterized in that The reflector adsorption module includes a suction nozzle for adsorbing the reflector, the reflector angle adjustment mechanism includes a controller and a six-dimensional translation stage fixed on the working platform, the suction nozzle is arranged on the six-dimensional translation stage, the controller drives the six-dimensional translation stage to adjust the angle of the reflector adsorbed by the suction nozzle according to the detection data of the angle detection module, the suction nozzle is provided with a limit sleeve that can slide relative to the suction nozzle, the limit sleeve is provided with a waist-shaped limit sleeve fixing hole, a positioning screw is provided through the limit sleeve fixing hole, and the positioning screw passes through the limit sleeve fixing hole and is screwed to the suction nozzle.

3. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 2, characterized in that The suction surface of the suction nozzle is provided with a suction ring groove, and the suction ring groove is communicated with a vacuum suction hole connected to a vacuum generator arranged on the suction nozzle.

4. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 2, characterized in that The suction surface of the suction nozzle is provided with a detection hole which is transparent from front to back, and the angle detection module includes a collimator located outside the suction nozzle, and the detection light beam emitted by the collimator passes through the detection hole and is incident on the back side of the reflector adsorbed on the suction nozzle.

5. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 4, characterized in that The angle detection module comprises a bracket fixedly mounted on the working platform, a three-dimensional collimator adjustment platform is arranged on the bracket, and the collimator is arranged on the three-dimensional collimator adjustment platform.

6. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 1, characterized in that The number of the reflector adsorption modules is the same as the number of the reflectors to be mounted, and the number of the angle detection modules is the same as the number of the reflector adsorption modules.

7. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 1, characterized in that The skeleton positioning module includes a skeleton positioning block, a three-dimensional skeleton translation stage and a clamping mechanism arranged on the three-dimensional skeleton translation stage. The skeleton positioning block is clamped and fixed by the clamping mechanism. The top of the skeleton positioning block is provided with a skeleton fixing hole for fixing the rotating mirror skeleton. The side wall of the skeleton positioning block is provided with a skeleton positioning column for fixing the direction of the rotating mirror skeleton.

8. The mounting device for the patch mirror in the vehicle-mounted laser radar as claimed in claim 1, characterized in that The mounting equipment also includes a surface shape detection module, which is used to perform surface shape detection on all reflective mirrors in the mounted patch rotating mirror.

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