Adjustment system and adjustment method for laser radar

Abstract

The invention discloses an installation and adjustment system and an installation and adjustment method of a laser radar. The adjusting system comprises a light source, a first lens group, a second lens group, a receiving sensor plate, a first adjusting frame and a second adjusting frame, the light source and the first lens group are arranged at intervals in the first direction, and the first lens group is located on the downstream side of the light source; the second lens group and the receiving sensor plate are arranged at intervals in the first direction, and the receiving sensor plate is located on the downstream side of the second lens group; the first debugging frame can be connected with the first lens group and the second lens group and is used for adjusting the positions of the first lens group and the second lens group along a first direction; and the second debugging frame is connected with the receiving sensor plate and can adjust the position of the receiving sensor plate along the first direction, the second direction and the third direction. The laser radar installation and adjustment system and method provided by the invention have the following technical effects of being simple, convenient and high in feasibility, greatly reducing the installation and adjustment cost, and finally realizing effective installation and adjustment.

Description

Technical Field

[0001] The present application belongs to the field of laser radar technology, and in particular relates to a laser radar assembly and adjustment system and an assembly and adjustment method. Background Art

[0002] In LiDAR, laser scanning and laser ranging, optical alignment is a crucial link, which directly affects the performance and reliability of the system. With the advancement of technology, optical alignment technology is also constantly developing to meet higher precision requirements and environmental adaptability. Following industry standards and specifications to ensure the quality of optical alignment and the overall performance of the LiDAR system is of great significance to the application and development of LiDAR technology.

[0003] Optical alignment is directly related to the measurement accuracy and stability of the LiDAR system. In a LiDAR system, optical alignment includes the following aspects: (1) beam quality, ensuring that the beam emitted by the laser transmitter has the correct divergence angle and spot shape; (2) optical axis alignment, the optical axes of the laser transmitter and the receiver must be precisely aligned to ensure that the reflected light can be effectively captured; (3) optical system calibration, including precise adjustment of optical components such as telescopes, filters, and polarizers to optimize signal reception.

[0004] Currently, the processing and adjustment in the industry are relatively complicated. Either multiple light sources are used, which has complicated adjustment steps, or professional equipment is customized, which has high economic costs. Summary of the invention

[0005] On this basis, the present invention proposes a laser radar installation and adjustment system and method, and the specific technical solution is as follows.

[0006] A laser radar assembly and adjustment system, comprising: The light source and the first mirror group are arranged at intervals along a first direction, and the first mirror group is located at the downstream side of the light source; A second mirror group and a receiving sensor plate are arranged at intervals in the first direction, and the receiving sensor plate is located at a downstream side of the second mirror group; a first adjustment frame, capable of being connected to the first lens group and the second lens group, and used for adjusting the positions of the first lens group and the second lens group along the first direction; A second debugging frame is connected to the receiving sensor board, and the second debugging frame can adjust the position of the receiving sensor board along the first direction, the second direction and the third direction; The first direction, the second direction and the third direction are perpendicular to each other.

[0007] Preferably, the first debugging frame is detachably connected to the first lens group and the second lens group, and when connected to the first lens group or the second lens group, the first debugging frame can adjust the position of the first lens group or the second lens group along the first direction; or the adjustment system includes two first debugging frames, one of which is connected to the first lens group, and the other of which is connected to the second lens group.

[0008] Preferably, the first debugging frame includes a first adjustment component and a first adjustment block, the first adjustment component is connected to the first adjustment block, and is used to drive the first adjustment block to reciprocate along the first direction, and the first adjustment block is detachably connected to the first lens group or the second lens group.

[0009] Preferably, the second debugging frame includes a second adjustment component, a third adjustment component, a fourth adjustment component and a second adjustment block, the second adjustment component is connected to the third adjustment component to drive the third adjustment component to reciprocate along the first direction; the third adjustment component is connected to the fourth adjustment component to drive the fourth adjustment component to reciprocate along the second direction, and the fourth adjustment component is connected to the second adjustment block to drive the second adjustment block to reciprocate along the third direction.

[0010] Preferably, the second adjustment component can also drive the third adjustment component to rotate around an axis parallel to the third direction; the third adjustment component can also drive the fourth adjustment component to rotate around an axis parallel to the second direction; the fourth adjustment component can also drive the second adjustment block to rotate around an axis parallel to the first direction.

[0011] Preferably, the adjustment system further comprises a lens group holder, and the first lens group and the second lens group are both arranged on the lens group holder.

[0012] Preferably, the adjustment system further comprises a processing board, and the processing board is electrically connected to both the light source and the receiving sensor board.

[0013] A laser radar installation and adjustment method, comprising: Step S1, fixing the light source, and adjusting the position of the first lens group along a first direction so that the light source is located at the focal length of the first lens group; Step S2, fixing the first lens group; Step S3, adjusting the position of the second mirror group along the first direction, and adjusting the position of the receiving sensor plate along the first direction, the second direction and the third direction, so that the receiving sensor plate is located at the back focal length of the second mirror group; Step S4, fixing the receiving sensor plate and the second mirror group.

[0014] Preferably, step S1 comprises: Step S1.1, fixing the light source; Step S1.2, moving the first lens group along the first direction by means of the first debugging frame, so that the light emitting position of the light source is located at the focal length of the first lens group; Step S1.3, continue to fine-tune the position of the first mirror group along the first direction through the first debugging frame, so that the light spot formed by the light beam emitted by the light source on the target plate is bright and clear.

[0015] Preferably, step S3 includes: adjusting the position of the second lens group along the first direction by means of the first debugging frame, and adjusting the position of the receiving sensor board along the first direction, the second direction and the third direction by means of the second debugging frame, so that the light beam emitted by the light source is incident on the effective sensing area of ​​the receiving sensor board, and the receiving sensor board is located at the back focal length of the second lens group; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0016] The laser radar installation and adjustment system and installation and adjustment method provided by the present invention have the following technical effects: (1) The present invention adopts conventional low-cost structures such as cameras, debugging frames, and processors, and realizes the installation and adjustment of the laser radar system through the combined use of the above structures, avoiding the installation and adjustment of the laser radar system by customizing professional equipment and professional fixtures in the prior art. It is simple and convenient, highly feasible, and greatly reduces costs. (2) The present invention uses a camera and a processor to analyze the light signals emitted by the laser radar system and the light signals received by the sensor board to guide the assembly process and ensure that effective assembly is ultimately achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present application and constitute a part of the specification. They are used to explain the present application together with the embodiments of the present application and do not constitute a limitation of the present application.

[0018] Figure 1 A schematic diagram of the structure of the laser radar assembly and adjustment system provided in the embodiment of the present application; Figure 2 A schematic diagram of the laser radar assembly and adjustment method provided in an embodiment of the present application.

[0019] Among them, 1. light source, 2. first mirror group, 3. second mirror group, 4. receiving sensor plate, 5. mirror group holding frame, 6. first debugging frame, 7. second debugging frame, 8. first connecting line, 9. second connecting line, 10. processing board, 11. flat base. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0021] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicating orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0022] This embodiment provides a laser radar installation and adjustment system and method. Figure 1 As shown, it includes a light source 1, a first lens group 2, a second lens group 3, a receiving sensor board 4, a first debugging frame 6, and a second debugging frame 7.

[0023] The light source 1 and the first mirror group 2 are arranged at intervals along the first direction, and the first mirror group 2 is located on the downstream side of the light source 1; the second mirror group 2 and the receiving sensor plate 4 are arranged at intervals in the first direction, and the receiving sensor plate 4 is located on the downstream side of the second mirror group 2; the first debugging frame 6 is connected to the first mirror group 2 and the second mirror group 3, and is used to adjust the positions of the first mirror group 2 and the second mirror group 3 along the first direction; the second debugging frame 7 is connected to the receiving sensor plate 4, and the second debugging frame 7 can adjust the position of the receiving sensor plate 4 along the first direction, the second direction and the third direction.

[0024] The first direction, the second direction and the third direction are perpendicular to each other. Figure 1 In the illustrated embodiment, the first direction is the left-right direction, the second direction is the up-down direction, and the third direction is the direction perpendicular to the paper.

[0025] It should be explained that the light source 1 is an LD (Laser Diode) board, that is, the laser diode is adhered to the board, but the position of the laser diode may have some deviations in the second direction and the third direction during the adhesion process. At this time, the position of the receiving sensor board 4 can be adjusted accordingly along the second direction and the third direction to ensure that the receiving sensor board 4 accurately receives the light beam.

[0026] Further, the first debugging frame 6 is detachably connected to the first lens group 2 and the second lens group 3, and when connected to the first lens group 2 or the second lens group 3, the first debugging frame 6 can adjust the position of the first lens group 2 or the second lens group 3 along the first direction; or the adjustment system may include two first debugging frames 6, one of which is connected to the first lens group 2, and the other is connected to the second lens group 3.

[0027] Furthermore, the first debugging frame 6 includes a first adjustment component and a first adjustment block. The first adjustment component is connected to the first adjustment block and is used to drive the first adjustment block to reciprocate along the first direction. The first adjustment block is detachably connected to the first lens group or the second lens group.

[0028] Furthermore, the second debugging frame 7 includes a second adjusting component, a third adjusting component, a fourth adjusting component and a second adjusting block. The second adjusting component is connected to the third adjusting component to drive the third adjusting component to reciprocate along the first direction; the third adjusting component is connected to the fourth adjusting component to drive the fourth adjusting component to reciprocate along the second direction, and the fourth adjusting component is connected to the second adjusting block to drive the second adjusting block to reciprocate along the third direction.

[0029] Furthermore, the second adjustment component can also drive the third adjustment component to rotate around an axis parallel to the third direction; the third adjustment component can also drive the fourth adjustment component to rotate around an axis parallel to the second direction; the fourth adjustment component can also drive the second adjustment block to rotate around an axis parallel to the first direction.

[0030] In conjunction with the above embodiment, it is necessary to explain that during the laser diode adhesion process, there is a slight deviation in its position, and after the adhesion is completed, there may also be an angle deviation between its mechanical plane and the design plane, so the corresponding receiving sensor board 4 also needs to be adjusted in angle, so the second adjustment block can be driven by the second debugging frame 7 to rotate around the axis of the first direction, the second direction and the third direction respectively. At the same time, by adjusting the position of the receiving sensor board 4 through the second debugging frame 7, the processing accuracy requirements for the structural parts in the laser radar can be reduced.

[0031] In one embodiment, the adjustment assembly (the second adjustment assembly, the third adjustment assembly, and the fourth adjustment assembly) includes a rotation module and a translation module, the rotation module is connected to the translation module to drive the translation module to rotate around an axis parallel to the first direction, the second direction, or the third direction, and the driving end of the translation module can reciprocate along the first direction, the second direction, or the third direction. The following is an example of the second adjustment assembly: The rotating module includes a mounting seat, a rotating seat and a rotating driving unit. The rotating seat is rotatably arranged on the mounting seat around an axis parallel to the third direction. The rotating driving unit is arranged on the mounting seat and connected to the rotating seat to drive the rotating seat to rotate. The translation module includes a translation driving unit and a slide. The slide is reciprocatingly arranged on the rotating seat along a first direction. The translation driving unit is arranged on the rotating seat and connected to the slide to drive the slide to reciprocate along the first direction.

[0032] The mounting seat in the third adjustment component is the slide seat in the second adjustment component, and the other structures are the same as the second adjustment component, but the rotation direction of its rotating seat and the moving direction of the slide seat are different from those of the second adjustment component; the mounting seat in the fourth adjustment component is the slide seat in the third adjustment component, and the slide seat in the fourth adjustment component is the second adjustment block in the above embodiment, and the other structures are the same as the second adjustment component, and the rotation direction of the rotating seat and the moving direction of the second adjustment block are different from those of the second adjustment component.

[0033] Preferably, the above-mentioned rotation drive unit and translation drive unit are both screw modules. For the rotation drive unit: the screw is rotatably arranged on the mounting seat, and the rotating seat is connected to the nut; for the translation drive unit: the screw is rotatably arranged on the rotating seat, and the sliding seat or the second adjustment block is connected to the nut. It should be noted that the rotating seat is driven to rotate by the screw module, and there may be a certain gap between the screw and the nut in the screw module, and the angle adjustment range of the rotating seat is small, so that the rotating seat is driven to rotate by the screw module.

[0034] Furthermore, the adjustment system provided in this embodiment further comprises a lens group holder 5, and the first lens group 2 and the second lens group 3 are both arranged on the lens group holder.

[0035] Furthermore, the adjustment system provided in this example further includes a processing board 10, which is electrically connected to both the light source 1 and the receiving sensor board 4. Figure 1 In the illustrated embodiment, the processing board 10 is electrically connected to the light source 1 via a first connection line 8 , and is electrically connected to the receiving sensor board 4 via a second connection line 9 .

[0036] Furthermore, the adjustment system provided in this embodiment further comprises a planar base 11 , and the lens assembly holding frame 5 , the first adjustment frame 6 and the second adjustment frame 7 are all arranged on the planar base 11 .

[0037] This embodiment also provides a method for assembling and adjusting a laser radar, as shown in the attached manual. Figure 2 As shown, including: Step S1, fixing the light source 1, and adjusting the position of the first lens group 2 along a first direction so that the light source 1 is located at the focal length of the first lens group 2; Step S2, fixing the first lens group 2; Step S3, adjusting the position of the second lens group 3 along the first direction, and adjusting the position of the receiving sensor plate 4 along the first direction, the second direction and the third direction, so that the receiving sensor plate 4 is located at the back focal length of the second lens group 3; Step S4, fixing the receiving sensor plate 4 and the second lens group 3.

[0038] Specifically, step S1 includes: Step S1.1, fixing the light source 1; Step S1.2, moving the first lens group 2 along the first direction by means of the first debugging frame 6, so that the light emitting position of the light source 1 is located at the focal length of the first lens group 2; Step S1.3, continue to fine-tune the position of the first lens group 2 along the first direction through the first debugging frame 6, so that the light spot formed by the light beam emitted by the light source 1 on the target plate is bright and clear.

[0039] Furthermore, in step S1.3, a camera may be used to observe the light spot formed on the target plate by the light beam emitted by the light source 1.

[0040] Specifically, in step S2, the first lens group 2 is fixed by using an adhesive curing method. Preferably, the first lens group 2 can be fixed by using a light-temperature dual curing method.

[0041] Specifically, step S3 includes: adjusting the position of the second lens group 3 along the first direction by the first debugging frame 6, and adjusting the position of the receiving sensor plate 4 along the first direction, the second direction and the third direction by the second debugging frame 7, so that the light beam emitted by the light source 1 is incident on the effective sensing area of ​​the receiving sensor plate 4, and the receiving sensor plate 4 is located at the back focal length of the second lens group 3; wherein the first direction, the second direction and the third direction are perpendicular to each other.

[0042] Specifically, in step S4, the receiving sensor plate 4 and the second lens group 3 are fixed by using an adhesive curing method. Preferably, the second lens group 3 and the receiving sensor plate 4 can be fixed by using a light-temperature dual curing method.

[0043] On this basis, the laser radar installation and adjustment system and method provided in this embodiment have the following technical effects: (1) This embodiment uses conventional low-cost structures such as a camera, a debugging frame, and a processor, and realizes the installation and adjustment of the laser radar system through the joint use of the above structures, avoiding the installation and adjustment of the laser radar system by customizing professional equipment and professional fixtures in the prior art. It is simple and convenient, highly feasible, and greatly reduces costs. (2) This embodiment uses a camera and a processing board to analyze the transmitted light signal in the laser radar system and the light signal received by the receiving sensor board to guide the assembly process and ensure that effective assembly is ultimately achieved.

[0044] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A laser radar installation and adjustment system, characterized in that: include: The light source and the first mirror group are arranged at intervals along a first direction, and the first mirror group is located at the downstream side of the light source; A second mirror group and a receiving sensor plate are arranged at intervals in the first direction, and the receiving sensor plate is located at a downstream side of the second mirror group; A first adjustment frame, connected to the first lens group and the second lens group, and used for adjusting the positions of the first lens group and the second lens group along the first direction; A second debugging frame is connected to the receiving sensor board, and the second debugging frame can adjust the position of the receiving sensor board along the first direction, the second direction and the third direction; The first direction, the second direction and the third direction are perpendicular to each other.

2. The laser radar assembly and adjustment system according to claim 1, characterized in that: The first debugging frame is detachably connected to the first lens group or the second lens group, and when connected to the first lens group or the second lens group, the first debugging frame can adjust the position of the first lens group or the second lens group along the first direction; or The adjustment system includes two first adjustment racks, one of which is connected to the first lens group, and the other of which is connected to the second lens group.

3. The laser radar assembly and adjustment system according to claim 2, characterized in that: The first debugging frame includes a first adjustment component and a first adjustment block. The first adjustment component is connected to the first adjustment block and is used to drive the first adjustment block to reciprocate along a first direction. The first adjustment block is detachably connected to the first lens group or the second lens group.

4. The laser radar assembly and adjustment system according to claim 1, characterized in that: The second debugging frame includes a second adjustment component, a third adjustment component, a fourth adjustment component and a second adjustment block. The second adjustment component is connected to the third adjustment component to drive the third adjustment component to reciprocate along the first direction; the third adjustment component is connected to the fourth adjustment component to drive the fourth adjustment component to reciprocate along the second direction, and the fourth adjustment component is connected to the second adjustment block to drive the second adjustment block to reciprocate along the third direction.

5. The laser radar assembly and adjustment system according to claim 4, characterized in that: The second adjustment component can also drive the third adjustment component to rotate around an axis parallel to the third direction; the third adjustment component can also drive the fourth adjustment component to rotate around an axis parallel to the second direction; the fourth adjustment component can also drive the second adjustment block to rotate around an axis parallel to the first direction.

6. The laser radar assembly and adjustment system according to claim 1, characterized in that: It also includes a lens group holding frame, and the first lens group and the second lens group are both arranged on the lens group holding frame.

7. The laser radar assembly and adjustment system according to claim 1, characterized in that: It also includes a processing board, which is electrically connected to the light source and the receiving sensor board.

8. A laser radar installation and adjustment method, characterized in that: Includes steps: Step S1, fixing the light source, and adjusting the position of the first lens group along a first direction so that the light source is located at the focal length of the first lens group; Step S2, fixing the first lens group; Step S3, adjusting the position of the second mirror group along the first direction, and adjusting the position of the receiving sensor plate along the first direction, the second direction and the third direction, so that the receiving sensor plate is located at the back focal length of the second mirror group; Step S4, fixing the receiving sensor plate and the second mirror group; The first direction, the second direction and the third direction are perpendicular to each other.

9. The laser radar installation and adjustment method according to claim 8, characterized in that: Step S1 includes: Step S1.1, fixing the light source; Step S1.2, moving the first lens group along the first direction by means of the first debugging frame, so that the light emitting position of the light source is located at the focal length of the first lens group; Step S1.3, continue to fine-tune the position of the first mirror group along the first direction through the first debugging frame, so that the light spot formed by the light beam emitted by the light source on the target plate is bright and clear.

10. The laser radar installation and adjustment method according to claim 8, characterized in that: Step S3 comprises, The position of the second lens group is adjusted along the first direction by the first debugging frame, and the position of the receiving sensor plate is adjusted along the first direction, the second direction and the third direction by the second debugging frame, so that the light beam emitted by the light source is incident on the effective sensing area of ​​the receiving sensor plate, and the receiving sensor plate is located at the back focal length of the second lens group.

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