A mounting device for a patch mirror in a vehicle-mounted lidar

Abstract

The present invention discloses a mounting device for a patch mirror in a vehicle-mounted lidar, which includes a working platform and a frame positioning module arranged on the working platform for fixing the mirror frame, at least one mirror adsorption module for adsorbing the mirror and attaching the adsorbed mirror to the mirror frame, and an angle detection module for detecting the angle of the mirror. The mirror adsorption module is arranged around the frame positioning module, and the angle detection module is arranged in cooperation with the mirror adsorption module. The feature is that the mirror adsorption module is provided with a mirror angle adjustment mechanism with a controller. The controller generates corresponding angle adjustment signals according to the detection data of the angle detection module and controls the mirror angle adjustment mechanism to adjust the angle of the adsorbed mirror. The advantage is that it can improve the mirror mounting accuracy and mounting efficiency.

Description

Technical Field

[0001] The present invention relates to a processing device for vehicle-mounted lidar, and more particularly to a mounting device for a patch mirror in vehicle-mounted lidar. Background Art

[0002] The patch mirror is one of the core components in the scanning system of vehicle-mounted lidar, mainly composed of a mirror frame in the center and multiple reflectors on the outer ring. By rotating the patch mirror, the beam is controlled to scan back and forth in the entire scene, and 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 beam does not reflect 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, some scanning light deviates from the specified path, which will cause distortion of the scene information. These two indicators can be controlled during the mounting process of the reflector. The general steps of the mounting process are: grasping the reflector, applying glue to the mounting surface of the mirror frame, mounting the reflector on the mounting surface, and curing. In these two steps of grasping the reflector and mounting the reflector on the mounting surface, there are the following key points:

[0003] 1) The spatial angle of the reflector includes the vertical angle and the inner angle, which are difficult to control during the mounting process. The vertical angle refers to the angle between the reflector plane and the rotation mechanical axis of the patch mirror, which determines whether the patch mirror is prism-shaped or tower-shaped, and sometimes can affect the distance between different scanning beams, that is, the vertical field of view angle; the inner angle refers to the angle between different reflector planes, which determines the size of each reflector of the patch mirror and affects the horizontal field of view angle of different scanning beams. The invention patent with the Chinese patent application number 202311237032.9 and the name of "Rotating Mirror and Its Lens Mounting Method, Scanning System of Lidar, Lidar" provides a method for mounting a reflector lens. By assisting with horizontal and vertical projection reference beams, comparing the reference beam and the reflected beam of the rotating mirror to calibrate the reflector, reducing the process cost of lens mounting, setting different projection optical path control precisions, and improving the qualified rate of the rotating mirror; however, in the technical solution of this patent, only the press-fitting is considered to affect the surface shape of the reflector, and no specific description is made on the grasping method of the reflector lens; and limited by the projection area, only one reflector is mounted each time, and the efficiency needs to be improved.

[0004] 2) The surface shape accuracy of the mirror is greatly affected by the assembly process. When the mirror is placed on the rotating mirror frame, it is easily squeezed, and the shrinkage of the glue during curing will also change the surface shape. The utility model patent with the Chinese patent number CN202320738239.3 and the name of "Full-automatic lidar mirror AA device and lidar assembly mechanism" provides an installation device for the mirror in the whole lidar. The mirror is placed through a groove-type fixed position, with less deformation of the mirror and little impact on the surface shape of the mirror; the position accuracy of the mirror is controlled according to the detection beam and the position of the light spot; the production efficiency is improved through a full-automatic device; however, the mirror in this application is installed in the whole machine and cannot be fully applied to the mounting of the patch rotating mirror.

[0005] 3) The patch rotating mirror includes multiple reflective sides. To improve efficiency, the mirror can be directly mounted without debugging, but the accuracy is poor; in addition, in terms of the assembly equipment, the manual assembly equipment has low efficiency and is not suitable for the production of large quantities of products; the full-automatic equipment has high production efficiency, but the R & D cost is also high. The invention patent with the Chinese patent application number CN202110727687.9 and the name of "A lidar mirror calibration and assembly device" provides a mounting device. The device uses multiple motors, with a high degree of automation and high mounting efficiency, but uses a rotating motor to rotate the rotating mirror and mounts only one mirror at a time; uses an AA mechanism to clamp and move the mirror. The AA mechanism includes multiple adjustment components such as a biaxial moving mechanism, a rotating disk, and a rotating arm, and can achieve fine adjustment of five degrees of freedom, but has a large volume; the supporting detection mechanism is a camera, and the angle of the mirror is adjusted according to the matching effect of the captured mirror and the frame, with poor control of the spatial angle accuracy of the mirror; uses a suction nozzle to suck the lens to be mounted and then clamps it with a claw, and there is still a problem that the surface shape accuracy of the mirror is affected after being squeezed. Summary of the Invention

[0006] 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 lidar that can improve the mounting efficiency of the patch rotating mirror and the mounting accuracy of the mirror.

[0007] The technical solution adopted by the present invention to solve the above technical problems is as follows: A mounting device for a patch mirror galvanometer in a vehicle-mounted lidar, including a working platform and a frame positioning module arranged on the working platform for fixing the mirror galvanometer frame, at least one mirror adsorption module for adsorbing the mirror and attaching the adsorbed mirror to the mirror galvanometer frame, and an angle detection module for detecting the angle of the mirror. The mirror adsorption module is arranged around the frame positioning module, the angle detection module is arranged in cooperation with the mirror adsorption module, the mirror adsorption module is provided with a mirror angle adjustment mechanism with a controller, and the controller generates a corresponding angle adjustment signal according to the detection data of the angle detection module and controls the mirror angle adjustment mechanism to adjust the angle of the adsorbed mirror.

[0008] Compared with the prior art, the advantages of the present invention are that by arranging a mirror angle adjustment mechanism with a controller on the mirror adsorption module and adjusting the angle of the adsorbed mirror according to the detection data of the angle detection module, the mounting accuracy and mounting efficiency of the mirror can be improved.

[0009] Preferably, the mirror adsorption module includes a nozzle for adsorbing the mirror. The mirror angle adjustment mechanism includes a controller and a six-axis translation stage fixed on the working platform. The nozzle is arranged on the six-axis translation stage. The controller drives the six-axis translation stage to adjust the angle of the mirror adsorbed by the nozzle according to the detection data of the angle detection module. A limit sleeve that can slide relative to the nozzle is sleeved on the nozzle. The limit sleeve is provided with a kidney-shaped limit sleeve fixing hole, and a positioning screw is arranged in the limit sleeve fixing hole. The positioning screw passes through the limit sleeve fixing hole and is screwed with the nozzle. After initially determining the correspondence between the mirror and the mirror galvanometer frame through the six-axis translation stage and the frame positioning module for fixing the mirror galvanometer frame, the limit sleeve is used to ensure that the mounting position of the mirror does not deviate from the preset position. Then, the nozzle is pushed to attach the mirror. The nozzle designed according to the angle characteristics of the patch mirror galvanometer can control the spatial angle when the mirror is mounted on the mirror galvanometer frame. Then, the angle detection module is used for real-time detection, and the controller generates a corresponding angle adjustment signal according to the detection data of the angle detection module to drive the six-axis translation stage to finely adjust the mirror in six degrees of freedom, improving the accuracy of the mirror mounting angle and achieving the effect of improving the scanning accuracy of the lidar.

[0010] Preferably, an air suction ring groove is arranged on the adsorption surface of the nozzle, and the air suction ring groove is communicated with a vacuum suction hole connected to a vacuum generator arranged on the nozzle. This structure can control the surface flatness of the nozzle. When the nozzle vacuum-adsorbs the mirror, it reduces the surface deformation of the mirror and improves the surface accuracy of the mirror.

[0011] Preferably, a detection hole that penetrates through the front and back is provided on the adsorption surface of the suction nozzle. The angle detection module includes a collimator located outside the suction nozzle, and the detection beam emitted by the collimator passes through the detection hole and is incident on the back surface of a reflecting mirror adsorbed on the suction nozzle. This structure can achieve real-time detection of the angle of the reflecting mirror during the mounting process.

[0012] Preferably, the angle detection module includes a bracket fixedly installed on the working platform. A three-dimensional collimator adjustment table is provided on the bracket, and the collimator is arranged on the three-dimensional collimator adjustment table. This structure can ensure convenient adjustment of the direction of the detection beam.

[0013] Preferably, the number of the reflecting mirror adsorption modules is the same as the number of the reflecting mirrors to be mounted, and the number of the angle detection modules is the same as the number of the reflecting mirror adsorption modules. For the number of reflecting mirrors to be mounted on different patch mirrors, using the corresponding number of reflecting mirror adsorption modules and the corresponding angle detection modules to mount a patch mirror simultaneously can improve the mounting efficiency of the reflecting mirror, and at the same time reduce the volume of the equipment and the manufacturing cost.

[0014] Preferably, the skeleton positioning module includes a skeleton positioning block, a three-dimensional skeleton translation table, and a clamping mechanism arranged on the three-dimensional skeleton translation table. The skeleton positioning block is clamped and fixed by the clamping mechanism. A skeleton fixing hole for fixing the mirror frame is provided at the top of the skeleton positioning block, and a skeleton positioning column for fixing the direction of the mirror frame is provided on the side wall of the skeleton positioning block. When the mirror frame is placed, the direction of the mirror frame can be determined according to the relative complementary structure between the mirror frame and the skeleton positioning column, and then the mirror frame is pressed tightly on the skeleton positioning block through the skeleton fixing hole using screws to improve stability.

[0015] Preferably, the mounting device further includes a surface shape detection module, which is used to detect the surface shape of the reflecting mirror in the patch mirror after mounting. Description of the Drawings

[0016] Figure 1 is a three-dimensional structural schematic diagram of the mounting device for the patch mirror provided by the embodiment of the present invention when mounting a tower-shaped mirror;

[0017] Figure 2 is a three-dimensional structural schematic diagram of the mounting device for the patch mirror provided by the embodiment of the present invention when mounting a prismatic mirror;

[0018] Figure 3 is a structural schematic diagram of the skeleton positioning module of the mounting device for the patch mirror provided by the embodiment of the present invention;

[0019] Figure 4It is a schematic structural diagram of the mirror adsorption module of the mounting device for the patch rotary mirror provided by the embodiment of the present invention;

[0020] Figure 5 It is a schematic structural diagram of the nozzle dedicated to the tower-shaped rotary mirror in the mirror adsorption module;

[0021] Figure 6 It is a schematic structural diagram of the limit sleeve dedicated to the tower-shaped rotary mirror in the mirror adsorption module;

[0022] Figure 7 It is a schematic structural diagram of the nozzle dedicated to the prism-shaped rotary mirror in the mirror adsorption module;

[0023] Figure 8 It is a schematic structural diagram of the limit sleeve dedicated to the prism-shaped rotary mirror in the mirror adsorption module;

[0024] Figure 9 It is a schematic structural diagram of the angle detection module of the mounting device for the patch rotary mirror provided by the embodiment of the present invention;

[0025] Figure 10 It is a three-dimensional structural diagram of the surface shape detection module of the mounting device for the patch rotary mirror provided by the embodiment of the present invention;

[0026] Figure 11 It is Figure 10 A schematic structural diagram of the surface shape detection table in the surface shape detection module shown;

[0027] Figure 12 It is a schematic flow diagram of the working principle of mounting the patch rotary mirror using the mounting device for the patch rotary mirror provided by the embodiment of the present invention.

[0028] Reference numerals in the figure:

[0029] 1. Skeleton positioning module; 11. Skeleton positioning block; 111. Skeleton fixing hole; 112. Skeleton positioning column; 12. Clamping mechanism; 121. Positioning block clamping three-jaw; 122. Three-jaw cylinder; 13. Three-dimensional skeleton translation table; 131. Tz skeleton adjustment table; 132. XY skeleton two-axis adjustment table;

[0030] 2. Mirror adsorption module; 21. Limit sleeve; 211. Limit sleeve fixing hole; 22. Nozzle; 221. Vacuum suction hole; 222. Detection hole; 223. Suction ring groove; 23. Universal nozzle adapter plate; 24. Slide cylinder; 25. Six-dimensional translation table; 251. X-direction adjustment table; 252. Y-direction adjustment table; 253. Z-direction adjustment table; 254. Tx adjustment table; 255. Ty adjustment table; 256. Tz adjustment table;

[0031] 3. Vacuum generator;

[0032] 4. Angle detection module; 41. Collimator; 42. Three-dimensional collimator adjustment table; 421. Tz adjustment knob; 422. Ty adjustment knob; 423. Tightening adjustment; 43. Bracket;

[0033] 5. Working platform;

[0034] 61. Surface shape detection table; 62. Two-dimensional rotating mirror turntable; 621. Tz rotating mirror turntable; 622. Ty rotating mirror turntable; 63. Interferometer;

[0035] 100. Mounted patch rotating mirror. Specific implementation manner

[0036] The following combines the accompanying drawings to specifically clarify the implementation manner of the present application. The accompanying drawings are only for reference and illustration, and do not constitute a limitation on the patent protection scope of the present application. The same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout.

[0037] The described embodiments and the shown accompanying drawings are part of the examples of the present application, not all examples. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts fall within the protection scope of the present application.

[0038] In the present application, unless otherwise clearly specified and limited, the terms "connected", "fixed to", and "placed" shall be understood in a broad sense. For example, they can be directly connected, indirectly connected through an intermediate medium, or the internal connection of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0039] Embodiment:

[0040] The present application provides a mounting device for a patch rotating mirror in a vehicle-mounted lidar, as Figure 1 and Figure 2As shown in the figure, it mainly includes a skeleton positioning module 1, a mirror adsorption module 2, a vacuum generator 3, multiple angle detection modules 4, a working platform 5, and a surface shape detection module. On the surface of the working platform 5, a skeleton positioning module 1, multiple mirror adsorption modules 2, and multiple angle detection modules 4 are fixedly arranged. The skeleton positioning module 1 is located at the center, the mirror adsorption modules 2 and the angle detection modules 4 are arranged around the skeleton positioning module 1, and the angle detection modules 4 are located outside the mirror adsorption modules 2. During mounting, the rotating mirror skeleton is placed on the skeleton positioning module 1, and the mirrors to be mounted are adsorbed on the mirror adsorption modules 2. Multiple mirror adsorption modules 2 work simultaneously, enabling the simultaneous mounting of multiple mirrors of the patch rotating mirror, thereby improving the mounting efficiency. At the same time, the angle detection module 4 emits a laser beam that passes through the mirror adsorption module 2 and is vertically incident on the back of the mirror adsorbed on the mirror adsorption module 2 and then returns along the original path. The controller of the mirror angle adjustment mechanism in the mirror adsorption module 2 generates a corresponding angle adjustment signal based on the angle of the laser beam detected by the angle detection module 4, and controls the mirror angle adjustment mechanism to adjust the angle of the adsorbed mirror to ensure the accuracy of the mirror mounting angle and improve the yield of finished products.

[0041] Figure 1 and Figure 2 The patch rotating mirror shown is a tetrahedral rotating mirror, but the mounting device for the patch rotating mirror in a vehicle-mounted lidar provided by the present invention can also be used in a triangular rotating mirror, a pentahedral rotating mirror, or a polyhedral rotating mirror. Among them, Figure 1 the shape of the rotating mirror in Figure 2 is tower-shaped, and the mirror plane is not parallel to the rotating mechanical axis of the rotating mirror.

[0042] The skeleton positioning module 1 is as shown in Figure 3 the figure, and mainly includes a skeleton positioning block 11, a clamping mechanism 12, and a three-dimensional skeleton translation stage 13. Among them, 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, and the two control the position of the skeleton positioning block 11 in space. By precise adjustment, the accuracy of attaching the mirror to the rotating mirror skeleton can be improved.

[0043] The clamping mechanism 12 in the skeleton positioning module 1 includes a positioning block clamping three-jaw 121 and a three-jaw cylinder 122. The bottom of the positioning block clamping three-jaw 121 is connected to the three-jaw cylinder 122. Starting the three-jaw cylinder 122 can loosen the positioning block clamping three-jaw 121 and take out the skeleton positioning block 11, and the skeleton positioning block 11 can be flexibly replaced according to the actual product requirements.

[0044] On the top of the skeleton positioning block 11 in the skeleton positioning module 1, there is a skeleton fixing hole 111, and on the side wall of the skeleton positioning block 11, there is a skeleton positioning post 112. When placing the rotating mirror skeleton, the direction of the rotating mirror skeleton can be determined according to the relative complementary structure between the rotating mirror skeleton and the skeleton positioning post 112, and then the rotating mirror skeleton is pressed tightly on the skeleton positioning block 11 by using screws through the skeleton fixing hole 111 to complete the locking and fixing, improving the stability.

[0045] The mirror adsorption module 2 is as Figure 4 shown, and mainly includes a limit sleeve 21, a suction nozzle 22, a universal suction nozzle adapter plate 23, a slide table cylinder 24 and a six-axis translation stage 25. The limit sleeve 21 is sleeved outside 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 table cylinder 24. The slide table cylinder 24 is arranged on the six-axis translation stage 25, and the direction of the suction nozzle 22 faces the skeleton positioning module 1.

[0046] As Figures 5 - 8 shown, on the adsorption surface of the suction nozzle 22 in the mirror adsorption module 2, there is an air suction ring groove 223. The air suction ring groove 223 is communicated with the vacuum suction hole 221 connected to the vacuum generator 3 on the suction nozzle 22. The air suction ring groove 223 is a groove surrounding the adsorption surface of the suction nozzle 22 and is communicated with the vacuum suction hole 221. When working, a uniform negative pressure is generated to suck the mirror, which can control the surface flatness of the suction nozzle 22, reduce the change of the mirror surface shape, and improve the scanning accuracy of the patch rotating mirror. On the adsorption surface of the suction nozzle 22, there is a detection hole 222 for the beam of the angle detection module 4 to pass through. The detection beam emitted by the angle detection module 4 passes through the detection hole 222 and is incident on the back of the mirror adsorbed on the suction nozzle 22. At the same time, when the angle detection is only used during the mounting process, the number of detection holes 222 can be one; when the patch rotating mirror is a tower-shaped rotating mirror and angle detection is required both during and after the mounting is completed, the number of detection holes 222 can be two, so that when the slide table cylinder 24 moves along the mirror attachment direction, it does not affect the passage of the detection beam.

[0047] A limit sleeve 21 that can slide relative to the nozzle 22 is sleeved on the nozzle 22. The limit sleeve 21 is provided with a kidney-shaped limit sleeve fixing hole 211. A positioning screw is provided in the limit sleeve fixing hole 211, and the positioning screw passes through the limit sleeve fixing hole 211 and is screwed to the nozzle 22. The limit sleeve 21 can slide relative to the nozzle 22. When the limit sleeve 21 slides to the front end of the nozzle 22 and is locked by the positioning screw, it can provide positioning assistance during the feeding of the mirror, improving the spatial position accuracy during the subsequent mirror mounting. When the mirror is being mounted or after mounting, the limit sleeve 21 can be slid to the rear end of the nozzle 22 and locked to avoid touching the mirror and causing poor mounting. Among them, Figure 5 , Figure 6 As shown, the nozzle 22 and the limit sleeve 21 are special for the tower-shaped rotating mirror, and its attachment surface is not perpendicular to the ground. The shape of the limit sleeve 21 also matches the shape of the mirror; Figure 7 , Figure 8 As shown, the nozzle 22 and the limit sleeve 21 are special for the prism-shaped rotating mirror, and its attachment surface is perpendicular to the ground. The shape of the limit sleeve 21 matches the shape of the mirror and is rectangular.

[0048] In the prior art, the conventional tool for clamping the mirror is a gripper. When two grippers clamp the mirror from the side, extrusion may occur, or the clamping position may be offset, resulting in poor mirror mounting quality. The only advantage is that the exposed area of the reflective surface is relatively large, which is convenient for detection. The existing nozzles are vented cylinders with a small vent area, and the pressure on the mirror is relatively large, which is likely to cause deformation; or most of the adsorption surface is covered, leaving no space for detection. The nozzle 22 used in the present invention takes these problems into consideration. For the shape of a specific rotating mirror, a nozzle 22 that almost covers the entire surface of the mirror is designed to reduce the deformation of the mirror surface shape. At the same time, a detection hole 222 is provided in the middle of the nozzle 22 as a light passing hole, which can support the passage of the angle detection beam.

[0049] The function of the universal nozzle adapter plate 23 in the mirror 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 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 beam that is 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 the special-shaped rotating mirror.

[0050] The mirror angle adjustment mechanism in the mirror 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, perpendicular to the reflecting 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 both the X direction and the Z direction, that is, the y-axis.

[0051] The Z - direction adjustment table 253 in the mirror adsorption module 2 is connected to the slide cylinder 24, controlling the height of the slide cylinder 24 in the Z - direction. The Z - direction adjustment table 253 is arranged on the upper part of the six - dimensional translation stage 25, which can reduce the influence of mechanical stiffness on the stability of the six - dimensional translation stage 25.

[0052] The Ty adjustment table 255 in the mirror adsorption module 2 is connected to the Z - direction adjustment table 253, controlling 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 stage 25, which can better control the influence brought by the tiny rotation of the nozzle 22 around the y - axis.

[0053] The six - dimensional translation stage 25 in the mirror adsorption module 2 is driven by a motor and cooperates with the slide cylinder 24. During the mirror mounting and fine - tuning process, the movement trajectory of the nozzle 22 can be controlled by controlling the slide cylinder 24 through a controller. By precisely adjusting the six - dimensional translation stage 25, the mounting accuracy can be improved.

[0054] The vacuum generator 3 is arranged on the working platform 5. Through the vacuum generator 3, the movement of the slide cylinder 24 and the adsorption of the nozzle 22 can be controlled, realizing semi - automatic mounting, improving efficiency, ensuring mounting stability, and improving the yield of the finished product rotating mirror.

[0055] The angle detection module 4 is as Figure 9 shown, including a collimator 41, a three - dimensional collimator adjustment table 42, and a bracket 43. The collimator 41 is arranged on the three - dimensional collimator adjustment table 42, and the three - dimensional collimator adjustment table 42 is fixed on the bracket 43.

[0056] The three - dimensional collimator adjustment table 42 in the angle detection module 4 includes: a Tz adjustment knob 421, a Ty adjustment knob 422, and a fastening 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 fastening adjustment 423. Among them, the direction of the light beam emitted by the collimator 41 is the x - direction, 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 z - axis respectively.

[0057] The Tz adjustment knob 421 in the angle detection module 4 can control the rotation of the collimator 41 around the z - axis, the Ty adjustment knob 422 can control the rotation of the collimator 41 around the y - axis, controlling the light beam emitted by the collimator 41 to be parallel to the x - axis. The fastening 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 measured surface of the mirror.

[0058] The laser beam is emitted from the collimator 41, reflected by the mirror, and then received by the collimator 41. Its optical path is relatively long, and the tiny angle error of the mirror is manifested as the offset of the reflected light.

[0059] The mounting device for the patch mirror in the vehicle-mounted lidar of the present invention determines the spatial orientation of the mirror through four steps. In the first step, the six-axis translation stage 25 supporting the mirror and the three-axis frame translation stage 13 supporting the mirror frame are adjusted to preliminarily align the mirror and the mirror frame. In the second step, the limit sleeve 21 is pushed forward until it protrudes from the adsorption surface of the suction nozzle 22 and then locked. The suction nozzle 22 is used to adsorb the mirror, and the limit sleeve 21 is used to ensure that the mounting position of the mirror does not deviate from the preset position. In the third step, the limit sleeve 21 is retracted backward until the adsorption surface of the suction nozzle 22 protrudes and then locked. The slide cylinder 24 is used to push the suction nozzle 22 to attach the mirror. The suction nozzle 22 designed according to the angular characteristics of the patch mirror can control the spatial angle when the mirror is mounted on the mirror frame. In the fourth step, the angle detection module 4 is used for real-time detection, and the six-axis translation stage 25 is controlled by the controller to finely adjust the mirror in six degrees of freedom according to the detection data, improving the accuracy of the mirror mounting angle and achieving the effect of improving the lidar scanning accuracy. In the second step, the external dimensions and positions are used to align the mirror. In the fourth step, the spatial angle of the mirror is obtained and then fed back to the six-axis translation stage 25 for fine adjustment, finally completing the high-precision mounting of the mirror in the patch mirror.

[0060] Meanwhile, in the detection link after the mounting is completed, adjustments can also be made according to the shape of the patch mirror: if the patch mirror is a tower-shaped mirror, the angles of multiple mirrors can be measured simultaneously; if the patch mirror is a prism-shaped mirror, the frame positioning block 11 can be rotated and only a single angle detection module 4 is used.

[0061] The present invention can also be provided with a surface shape detection module for detecting the surface shape of the mirror in the patch mirror 100 after the mounting is completed. The surface shape detection module is as Figure 10 shown, including a surface shape detection stage 61, a two-dimensional mirror turntable 62 and an interferometer 63. The two-dimensional mirror turntable 62 is arranged on the surface shape detection stage 61. The two-dimensional mirror turntable 62 in the surface shape detection module is as Figure 11 shown, including a Tz mirror turntable 621 and a Ty mirror turntable 622. The Tz mirror turntable 621 is connected to the surface shape detection stage 61, and the Tz mirror turntable 621 is connected to the Ty mirror turntable 622. Among them, the x'-axis is parallel to the interferometer beam, the y'-axis is parallel to the ground, and the z'-axis, x'-axis and y'-axis are perpendicular to each other in pairs.

[0062] The Tz mirror turntable 621 in the surface shape detection module controls the patch mirror 100 after the mounting is completed to rotate around the z'-axis, controls the surface to be measured of the patch mirror 100 after the mounting is completed to face the interferometer 63, and at the same time, after the measurement of one surface to be measured is completed, it rotates and switches to another surface to be measured. The Ty mirror turntable 622 controls the patch mirror 100 after the mounting is completed to rotate around the y'-axis, so that the surface to be measured of the patch mirror 100 after the mounting is completed is perpendicular to the beam emitted by the interferometer 63.

[0063] The working principle of the mounting device of the present invention is asFigure 12 As shown, it includes:

[0064] S110: Feed the reflecting mirror onto the suction nozzle 22, start the vacuum generator 3. The suction nozzle 22 generates a uniform negative pressure through the vacuum suction holes 221 and the suction ring groove 223 to tightly adsorb the reflecting mirror. At this time, the limit sleeve 21 slides to the front end of the suction nozzle 22 to provide positioning assistance during the feeding of the reflecting mirror;

[0065] S120: Place the rotating mirror skeleton to be mounted on the skeleton positioning block 11. Determine the direction of the rotating mirror skeleton through the skeleton positioning posts 112 on the side wall of the skeleton positioning block 11, and then use screws to press the rotating mirror skeleton onto the skeleton positioning block 11 through the skeleton fixing holes 111 at the top of the skeleton positioning block 11. Then, apply glue to the surface of the rotating mirror skeleton to be mounted;

[0066] S130: Start the sliding table cylinder 24. The sliding table cylinder 24 drives the universal suction nozzle adapter plate 23, the suction nozzle 22, the limit sleeve 21 and the reflecting mirror to move towards the direction of the rotating mirror skeleton until the reflecting mirror adheres to the surface of the rotating mirror skeleton to be mounted;

[0067] S140: When starting the angle detection module 4, the collimated light beam is emitted from the collimator 41, passes through the universal suction nozzle adapter plate 23 and the suction nozzle 22, and reaches the surface of the reflecting mirror through the detection hole 222. At this time, if the spatial angle of the reflecting mirror meets the requirements, the collimated light beam will return along the original path. Otherwise, the collimated light beam will not return or will deviate. The controller adjusts the six-axis translation stage 25 in the reflecting mirror adsorption module 2 according to the condition of the reflected collimated light beam, and then finely adjusts the angle of the reflecting mirror until the collimated light beam reflected by the reflecting mirror returns along the original path;

[0068] S150: Turn on the curing lamp to irradiate the rotating mirror skeleton and the reflecting mirror to cure the glue. After the reflecting mirror is fixed on the rotating mirror skeleton, turn off the curing lamp;

[0069] S160: Turn off the vacuum generator 3. After the suction nozzle 22 breaks the vacuum, the reflecting mirror is no longer adsorbed on the suction nozzle 22. At the same time, adjust the sliding table cylinder 24 to retract the universal suction nozzle adapter plate 23, the suction nozzle 22 and the limit sleeve 21 to their original positions, completing one mounting of the reflecting mirror.

[0070] 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 in step S140. After the detection is completed, take out the mounted patch rotating mirror 100;

[0071] S180. Start the surface shape detection module. Place the patch mirror 100 after mounting on the surface shape detection table 61. Adjust the two-dimensional mirror turntable 62 to make the mirror of the surface to be measured perpendicular to the interferometer beam. After one measurement, adjust the Tz mirror turntable 621 to rotate the patch mirror 100 after mounting, switch to another surface to be measured, and repeat step S180 until the surface shape detection of all the mirrors of the surface to be measured of the patch mirror 100 after mounting is completed;

[0072] S190. According to the angle detection result in step S170 and the surface shape detection result in S180, determine whether the mounting of the patch mirror 100 after mounting is qualified.

Claims

1. A mounting device for a patch mirror in a vehicle-mounted lidar, comprising a working platform and a frame positioning module arranged on the working platform for fixing the mirror frame, at least one mirror adsorption module for adsorbing the mirror and attaching the adsorbed mirror to the mirror frame, and an angle detection module for detecting the angle of the mirror. The mirror adsorption module is arranged around the frame positioning module, and the angle detection module is arranged in cooperation with the mirror adsorption module, characterized in that The reflector adsorption module is provided with a reflector angle adjustment mechanism, 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 front end face of the suction nozzle is provided with a detection hole that is transparent from front to back, the angle detection module includes a collimator located outside the suction nozzle, the detection light beam emitted by the collimator passes through the detection hole and is incident on the back of the reflector, and the controller drives the six-dimensional translation stage to adjust the angle of the reflector adsorbed by the suction nozzle on the surface to be mounted of the rotating mirror skeleton according to the detection data of the angle detection module.

2. The mounting device for the patch mirror in the vehicle-mounted lidar according to claim 1, characterized in that The suction nozzle is provided with a limiting sleeve which can slide relative to the suction nozzle, the limiting sleeve is provided with a waist-shaped limiting sleeve fixing hole, a positioning screw is provided through the limiting sleeve fixing hole, and the positioning screw passes through the limiting sleeve fixing hole and is threadedly connected with the suction nozzle.

3. The mounting device for the patch mirror in the vehicle-mounted lidar according to claim 2, wherein The front end surface of the suction nozzle is provided with a suction ring groove, and the suction ring groove is communicated with the vacuum suction hole connected to the vacuum generator.

4. The mounting device for the patch rotary mirror in a vehicle-mounted lidar according to claim 1, 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.

5. The mounting device for a patch mirror in a vehicle-mounted lidar according to claim 1, wherein 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.

6. The mounting device for the patch rotary mirror in a vehicle-mounted lidar according to 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, 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.

7. The mounting device for the patch mirror in the vehicle-mounted lidar according to claim 1, characterized in that The mounting 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 rotating mirror after the mounting is completed.

Images