Lens mounting method for rotating mirror and rotating mirror

Abstract

The present application discloses a lens mounting method for a rotating mirror, and relates to the field of laser radar technology. The rotating mirror includes a rotating wheel and N reflectors, and the rotating wheel has N mounting surfaces, where N is a positive integer not less than 3; it is characterized in that the lens mounting method includes: setting a projection area, and the projection area and the rotating mirror are set according to a preset distance; mounting a reflector on a mounting surface of the rotating wheel until all reflectors are mounted on the rotating wheel; defining a reflector debugging step, including: defining a reference light and a reflected light, and the reflected light reaches the projection area through reflection of the reflector; by controlling the reflector, adjusting the distance between the reference light and the reflected light in the projection area, and completing the debugging of the reflector; completing the debugging of the reflector according to the reflector debugging step. The lens mounting method for a rotating mirror provided in the present application can reduce the lens mounting process cost of the rotating mirror, and can also improve the qualified rate of the rotating mirror.

Description

[0001] This application is a divisional application of an application with an application date of September 25, 2023, application number 2023112370329, and invention name “rotating mirror and lens mounting method thereof, laser radar scanning system, laser radar”. Technical Field

[0002] The present application relates to the field of laser radar technology, and in particular to a lens mounting method of a rotating mirror and a rotating mirror. Background Art

[0003] At present, the field of view (vertical field of view, horizontal field of view), resolution, and ranging capability of the laser radar scanning system are the most important parameters that reflect the performance of the laser radar. Among them, the laser radar scanning system uses the galvanometer vertical scanning to ensure the vertical field of view and vertical angle resolution, and the rotating mirror horizontal scanning to ensure the horizontal field of view and horizontal angle resolution. Therefore, the rotating mirror plays a decisive role in the quality of the laser radar scanning system.

[0004] Among them, the vertical angle of the rotating mirror and the internal angle of the rotating mirror are two important parameters that determine the accuracy of the rotating mirror. The slight errors in the above two angles, under long-distance magnification, will cause a large deviation between the calculated target position and the actual target position. For example, in the actual application of vehicle-mounted long-distance laser radar, the detection range of the laser radar can reach 250 meters to 300 meters. When the laser radar detects an obstacle at 250 meters, even if the deviation angle of the rotating mirror is 0.1 degrees, there is an error of 43 centimeters between the obstacle position calculated according to the feedback signal and the actual obstacle position. This 43-centimeter error may cause the driver to be unable to safely avoid obstacles, causing safety accidents.

[0005] In the related art, during the manufacturing process of the rotating mirror, glue is usually used to bond the reflector to the metal rotating wheel, and then a jig is used to press the reflector onto the rotating wheel to ensure the optical performance and mechanical size requirements. However, this method of manufacturing the rotating mirror has high requirements on the precision of the jig and the rotating wheel, and cannot guarantee the vertical angle of the rotating mirror and the surface shape of the reflector after installation, resulting in poor precision and low yield of the rotating mirror. Summary of the invention

[0006] In view of this, the purpose of this application is to overcome the deficiencies in the prior art. This application provides a rotating mirror and its lens mounting method, a laser radar scanning system, and a laser radar to solve the technical problems in the prior art that the rotating mirror manufacturing method has high production cost, low product yield and is not suitable for mass production.

[0007] This application provides: A lens mounting method for a rotating mirror, the rotating mirror comprising a rotating wheel and N reflecting mirrors, the rotating wheel having N mounting surfaces, wherein N is a positive integer not less than 3; the lens mounting method comprising: Setting a projection area, wherein the projection area and the rotating mirror are set at a preset distance; Mounting a reflector on a mounting surface of the rotating wheel; All reflectors are mounted on the rotating wheel; Defining the reflector debugging step includes: defining a reference light and a reflected light, wherein the reflected light is reflected by the reflector to reach the projection area; by controlling the reflector, adjusting the distance between the reference light and the reflected light in the projection area, and completing the debugging of the reflector; Follow the reflector debugging steps to complete the debugging of the reflector.

[0008] In addition, the lens mounting method of the rotating mirror according to the present application may also have the following additional technical features: In some embodiments of the present application, the reflector debugging step includes horizontal debugging of the reflector; In the horizontal debugging of the reflector, a horizontal reference light and a horizontal reflected light are defined. The horizontal reference light and the horizontal reflected light are emitted from the same horizontal plane. The horizontal reflected light reaches the projection area after passing through the reflector. The horizontal reflected light deviates from the original horizontal plane after reflection. The horizontal reference light is always in the original horizontal plane. By controlling the reflector, the distance between the horizontal reference light and the horizontal reflected light in the projection area is adjusted to complete the horizontal debugging of the reflector.

[0009] In some embodiments of the present application, the horizontal reference light is obtained by: A standard rotating mirror with the same parameters is set at the same position as the rotating wheel, and the light reflected by the standard rotating mirror to the projection area is defined as the horizontal reference light; Alternatively, the light obtained by directly reflecting the horizontal light on the projection area is defined as the horizontal reference light.

[0010] In some embodiments of the present application, the reflector debugging step includes vertical debugging of the reflector; In the vertical debugging of the reflector, a vertical reference light and a vertical reflected light are defined. The vertical reflected light reaches the projection area after passing through the reflector. After reflection, the vertical reflected light is offset from the vertical reference light in the horizontal direction. By controlling the reflector, the horizontal distance between the vertical reference light and the vertical reflected light in the projection area is adjusted to complete the vertical debugging of the reflector.

[0011] In some embodiments of the present application, the vertical reference light is obtained by: A standard rotating mirror with the same parameters is set at the same position as the rotating wheel, and the vertical reflected light reflected by the standard rotating mirror to the projection area is defined as the vertical reference light; Or, rotating the wheel to obtain vertical reflected light based on all reflectors in the projection area; Based on the vertical reflected light rays based on all reflectors in the projection area, the average value of all vertical reflected light rays is obtained; The average value of all the vertical reflected rays mentioned above is defined as the vertical reference ray; Or, after mounting the first reflector on a mounting surface of the rotating wheel, measuring the actual internal angle value of the first reflector to obtain a deviation angle between the actual internal angle value and the theoretical internal angle value; Calculating the deviation distance of the first reflector in the projection area based on the deviation angle and the preset distance between the projection area and the rotating mirror; The light obtained by offsetting the vertical reflected light of the first reflector based on the deviation distance is defined as the vertical reference light.

[0012] In some embodiments of the present application, the step of debugging the reflector is to control the reflector to adjust the distance between the reference light and the reflected light in the projection area, thereby completing the debugging of the reflector, including: The horizontal / vertical reflected light passes through the center of the reflector and then reflects to the projection area; Get the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area; According to the preset distance between the projection area and the rotating mirror, the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light is obtained; The debugging of the reflector is completed based on the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area and the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light.

[0013] In some embodiments of the present application, the debugging of the reflector is completed based on the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area and the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light, including: Determine whether the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area is less than a preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light; If yes, the reflector is debugged; If not, adjust the position of the reflector on the mounting surface so that the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area is smaller than the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light.

[0014] In some embodiments of the present application, after the step of mounting all the reflectors on the rotating wheel, the method includes: Rotate the wheel to obtain the reflected light based on all the reflectors in the projection area; Based on the reflected light from all the reflectors in the projection area, the maximum distance is obtained; Based on the maximum distance and the preset distance between the projection area and the rotating mirror, the angular deviation of the rotating mirror is obtained; Determine whether the angle deviation of the rotating mirror is less than a preset value; If not, re-adjust all reflectors to ensure that the angle deviation of the rotating mirror is less than the preset value.

[0015] In some embodiments of the present application, before the step of mounting the one reflector onto a mounting surface of the rotating wheel, the step further includes: Using a first adhesive substance to adhere the reflector to the mounting surface, wherein the reflector is movable relative to the rotating wheel; After all the reflectors are mounted on the rotating wheel, the method includes: After the first viscous material is solidified, the rotating wheel is rotated again to obtain reflected light based on all reflectors in the projection area after the first viscous material is solidified; Obtaining a maximum distance after the first adhesive substance is solidified based on the reflected light rays based on all the reflectors in the projection area after the first adhesive substance is solidified; Obtaining an angle deviation of the rotating mirror after the first adhesive substance is solidified based on a maximum distance after the first adhesive substance is solidified and a preset distance between the projection area and the rotating mirror; Determining whether the angle deviation of the rotating mirror after the first adhesive substance is solidified is less than a preset value; If not, all the reflectors are re-adjusted to ensure that the angle deviation of the rotating mirror is less than the preset value after the first adhesive material is solidified.

[0016] In some embodiments of the present application, after completing the step of debugging the reflector, the method further includes: Using a second adhesive material to fix the end points of the debugged reflector; After the second adhesive material is solidified, re-determining whether the actual distance between the reference light and the reflected light in the projection area is less than a preset value of the distance between the reference light and the reflected light; If not, the solidified second adhesive material is destroyed, and the reflector is re-fixed to ensure that the actual distance between the reference light and the reflected light in the projection area is smaller than the preset value of the distance between the reference light and the reflected light.

[0017] The present application also provides a rotating mirror, which is manufactured using the lens mounting method of the rotating mirror described in any of the above embodiments.

[0018] The present application also provides a laser radar scanning system, comprising the rotating mirror as described above.

[0019] The present application also provides a laser radar, including a rotating mirror as described above or a scanning system of the laser radar as described above.

[0020] Compared with the prior art, the beneficial effects of the present application are as follows: the present application proposes a lens mounting method for a rotating mirror, by setting a projection area, and setting the projection area and the rotating mirror at a preset distance, fixing a reflector on a mounting surface, defining a reference light, and allowing the reflected light to reach the projection area through the reflection of the reflector, and by moving the reflector, adjusting the distance between the reflected light and the reference light in the projection area, so that the distance between the reflected light and the reference light meets the preset requirements, at which point the reflector is debugged. Then install the next reflector in sequence, and repeat the above steps until all reflectors are mounted on the rotating wheel. Through the above mounting method, there is no need to use a jig to press the reflector on the rotating wheel, and the surface shape of the reflector will not be changed. At the same time, the reflector is debugged by an optical reflection method to control the vertical angle of the reflector within a qualified range, thereby improving the qualified rate of the rotating mirror. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A flow chart showing a lens mounting method of a rotating mirror in some embodiments of the present application is shown; Figure 2 One of the principle diagrams of the lens mounting method of the rotating mirror in some embodiments of the present application is shown; Figure 3 The second schematic diagram shows the lens mounting method of the rotating mirror in some embodiments of the present application; Figure 4 The third schematic diagram shows the lens mounting method of the rotating mirror in some embodiments of the present application.

[0023] Description of main component symbols: 110 - rotating wheel; 111 - mounting surface; 120 - reflector; 130 - motor; 140 - light source; 150 - projection area; 151 - horizontal reference light; 152 - vertical reference light; 153 - horizontal reflected light; 154 - vertical reflected light. DETAILED DESCRIPTION

[0024] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0025] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features.

[0026] In this application, unless otherwise clearly specified and limited, the terms "connection", "fixation" and the like should be understood in a broad sense. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] like Figure 1 As shown, an embodiment of the present application provides a lens mounting method for a rotating mirror, which is mainly used in a laser radar scanning system. The rotating mirror includes a rotating wheel 110 and N reflectors 120. The rotating wheel 110 has N mounting surfaces 111, where N is a positive integer not less than 3, and each mounting surface 111 corresponds to mounting a reflector 120.

[0028] The rotating wheel 110 and the reflecting mirror 120 are inspected and cleaned.

[0029] It can be understood that the inspection of the rotating wheel 110 and the reflecting mirror 120 includes the quality inspection of the rotating wheel 110 and the quality inspection of the reflecting mirror 120 .

[0030] The quality inspection of the rotating wheel 110 includes: checking whether the frame of the rotating wheel 110 is intact; and checking whether the vertical angle and horizontal angle of the rotating mirror frame are qualified.

[0031] The quality inspection of the reflector 120 includes: using a spectrophotometer to test whether the reflectivity of each reflector 120 at different angles is qualified.

[0032] Cleaning the rotating wheel 110 and the reflecting mirror 120 includes cleaning the rotating wheel 110 and cleaning the reflecting mirror 120 .

[0033] The cleaning of the rotating wheel 110 includes: ultrasonically cleaning the frame of the rotating wheel 110, setting the water temperature to 60°C for 5 minutes, and then baking the rotating wheel 110 at 100°C for 30 minutes.

[0034] Cleaning the reflector 120 includes: using a plasma spray gun to perform plasma cleaning on the bonding surface of each reflector 120 and each mounting surface 111 of the rotating wheel 110 .

[0035] After cleaning, a layer of activator is applied on the bonding surface of each reflector 120 and each mounting surface 111 and left for half an hour. The activator can enhance the bonding ability of the subsequent adhesive material.

[0036] The lens mounting method of the rotating mirror provided in this embodiment comprises the following steps: S100, setting the projection area 150, and setting the projection area 150 and the rotating mirror at a preset distance.

[0037] like Figure 2 As shown, specifically, the projection area 150 is a projection plane, which is set on any one of a projection board, a projection cloth, and white paper, so that the light can be directly presented on the projection plane.

[0038] Continue reading Figure 2 , install the cleaned rotating wheel 110 on the motor 130, and install the motor 130 on the tooling bracket in the placement area of ​​the rotating mirror angle test platform to determine the central axis position of the rotating wheel 110. The motor 130 can drive the rotating wheel 110 to rotate around the above central axis.

[0039] The preset distance between the projection area 150 and the rotating mirror is the optical path of the reflected light from the reflector 120 to the projection area 150 , and the optical path can be set according to actual needs.

[0040] In this embodiment, the optical path is set to 8000 mm. In other embodiments, the optical path is any one of 8500 mm, 9000 mm, 9500 mm, 10000 mm, 10500 mm, 11000 mm, 11500 mm, and 12000 mm.

[0041] It can be understood that the longer the optical path is, the greater the distance of the reflected light offset in the projection area caused by the slight angle movement of the reflector, which makes the debugging process of the reflector 120 more intuitive and facilitates the debugging of the reflector 120. At the same time, the greater the optical path distance is, the closer the posture of the reflector 120 after debugging is to the ideal posture, which improves the debugging accuracy of the reflector 120 and ensures the accuracy and qualified rate of the rotating mirror.

[0042] S200 , mounting a reflector 120 onto a mounting surface 111 of the rotating wheel 110 .

[0043] In this embodiment, the reflector 120 is mounted on a mounting surface 111 of the rotating wheel 110 by bonding.

[0044] Specifically, the reflector 120 is adhered to the mounting surface 111 by using a first adhesive, and the reflector 120 is movable relative to the mounting surface 111 .

[0045] Exemplarily, a first adhesive is coated on the mounting surface 111 and / or on the bonding surface of the reflector 120 , and then the reflector 120 is fixed on a five-axis adjustment frame, and the reflector 120 is mounted on the mounting surface 111 through the five-axis adjustment frame.

[0046] The coating method may be any one of a uniform coating method covering the entire surface, a uniform glue dispensing method, and a pattern coating method, so that the reflector 120 is stably connected to the mounting surface 111 and is not easy to fall off.

[0047] The first adhesive substance is silica gel, which generally takes 24 hours to cure. When the reflector 120 is mounted on the mounting surface 111 through the silica gel, the reflector 120 is still movable because the silica gel is not completely cured.

[0048] In addition, during the curing process of the silicone, the reflector 120 may move due to the gravity of the reflector 120 or the shrinkage of the silicone. Thus, after the silicone is completely cured, the position of the reflector 120 may shift slightly. Therefore, it is necessary to debug and fix the reflector 120 before the silicone is completely cured.

[0049] S300, defining the debugging step of the reflector 120, including: defining a reference light and a reflected light, wherein the reflected light is reflected by the reflector 120 to reach the projection area 150. By controlling the reflector 120, adjusting the distance between the reference light and the reflected light in the projection area 150, the debugging of the reflector 120 is completed.

[0050] It should be noted that the solution based on the reflector debugging may affect the mounting method of the reflector. Based on different reflector debugging solutions, different reflector mounting methods can be selected, and this implementation does not impose any restrictions on the reflector mounting method.

[0051] In step S300, a light source 140 is provided, wherein the light source 140 can emit light beams in at least two directions, horizontally and vertically.

[0052] like Figure 3 As shown, illustratively, the light source 140 can emit at least two horizontal light beams, all of which are in the same horizontal plane, one of which is directly projected onto the projection area 150 , and the remaining horizontal light beams are projected onto the projection area 150 after being reflected by the reflector 120 .

[0053] like Figure 4 As shown, the light source 140 emits a vertical light beam, which is reflected by the reflector 120 and then projected onto the projection area 150 .

[0054] In this embodiment, in order to improve the production efficiency of the rotating mirror, during each debugging process of the reflector 120, the light source 140 simultaneously emits light beams in two directions, namely, horizontal and vertical directions.

[0055] It should be noted that the horizontal light beam and the vertical light beam can be emitted from two light sources respectively, or can be emitted from one light source, and can be configured according to actual production conditions.

[0056] In this embodiment, the light shapes of the horizontal light beam and the vertical light beam in the projection area 150 are both linear. Figure 2 As shown, the horizontal light beam and the vertical light beam are interwoven into a cross shape in the projection area, which makes it easier to show the moving trajectory and moving distance of the light.

[0057] It should be noted that after the position of the light source 140 is determined, during the subsequent mounting process of each reflector 120, the position of the light source 140 is fixed, and the positions of the center axis of the projection area 150 and the rotating wheel 110 are also fixed. Only the position of the mounting surface 111 on the rotating wheel 110 rotates. In this way, the mounting steps of the reflector 120 are simplified, and the mounting basis of each reflector 120 is made the same, thereby improving the mounting and debugging efficiency of each reflector 120. At the same time, the size requirements for the rotating wheel 110 are reduced, thereby reducing production costs.

[0058] In one embodiment, the step of adjusting the reflector 120 includes horizontal adjustment of the reflector 120 and vertical adjustment of the reflector 120 .

[0059] S310, horizontal adjustment of the reflector 120.

[0060] Please refer to Figure 2 and Figure 3 The horizontal debugging of the reflector 120 includes the steps of defining a horizontal reference light 151 and a horizontal reflected light 153. The horizontal debugging of the reflector 120 is completed by controlling the reflector 120 and adjusting the distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150.

[0061] It can be understood that each reflector of the rotating mirror is designed with a corresponding vertical angle, and there is a deviation angle between the vertical angle of the reflector actually mounted on the rotating wheel and the vertical angle of the reflector designed. For example, the vertical angle of each reflector of the designed rotating mirror is 90.5°. During the actual reflector mounting process, the vertical angle of the reflector may be 90.8°, with a deviation angle of 0.3°. Through the horizontal debugging steps, the deviation angle of 0.3° can be reduced or even eliminated, thereby improving the quality and precision of the rotating mirror.

[0062] S311, define the horizontal reference light 151 and the horizontal reflected light 153.

[0063] As mentioned above, at least two horizontal light beams are emitted from the light source 140 , one of which is defined as a horizontal reference light beam, which reaches the projection area 150 ; the remaining light beam is defined as a horizontal reflected light beam, which reaches the projection area 150 after being reflected by a reflector.

[0064] In this embodiment, the number of the horizontal reflected light is one.

[0065] The horizontal reference light 151 and the horizontal reflected light 153 are emitted from the same horizontal plane. The horizontal reflected light 153 reaches the projection area 150 after passing through the reflector 120. The horizontal reflected light 153 deviates from the original horizontal plane after reflection, and the horizontal reference light 151 is always in the original horizontal plane.

[0066] Optionally, the horizontal reference light 151 is obtained by any of the following methods: The first method is to set a standard rotating mirror with the same parameters at the same position as the rotating wheel 110 , and define the horizontal reflected light 153 reflected by the standard rotating mirror to the projection area 150 as the horizontal reference light 151 .

[0067] Second, the light obtained by the horizontal reflected light 153 directly hitting the projection area 150 is defined as the horizontal reference light 151.

[0068] It is understandable that the above two methods of obtaining horizontal reference light do not affect the mounting method of the reflector. No matter the first method or the second method is used to obtain horizontal reference light, one reflector can be mounted for horizontal adjustment before the next reflector is mounted; or some reflectors can be mounted for horizontal adjustment before the remaining reflectors are mounted; or all reflectors can be mounted before horizontal adjustment.

[0069] Preferably, the second method is used to obtain the horizontal reference light 151. In the first method, when a standard rotating mirror with the same parameters is set at the same position as the rotating wheel 110, it is easy to move the position of the rotating wheel, which reduces the mounting accuracy of the reflector. At the same time, such an operation process is cumbersome and inefficient. Therefore, compared with the first method, the second method is simpler and more efficient.

[0070] S312 : By controlling the reflector 120 , the distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is adjusted to complete the horizontal adjustment of the reflector 120 .

[0071] Specifically, the horizontal reflected light 153 passes through the center of the reflector 120 and then reflects to reach the projection area 150 .

[0072] The actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is obtained. As mentioned above, the horizontal reference light 151 is always in the same horizontal plane, and the horizontal reflected light 153 deviates from the original horizontal plane after reflection, so that there is a distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 in the vertical direction.

[0073] According to the preset distance between the projection area 150 and the rotating mirror, a preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153 is obtained. It can be understood that when the posture of the reflector 120 is determined, the greater the preset distance between the projection area 150 and the rotating mirror, the greater the distance between the horizontal reference light 151 and the horizontal reflected light 153.

[0074] During the debugging process, there is a deviation angle α between the actual state of the reflector 120 and the ideal state. As an example, 0≤α<0.04° is satisfied. When α is 0°, it indicates that the reflector 120 is in an ideal state, and the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 overlap; the larger the deviation angle α, the larger the distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150. When α is 0.04°, the distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is the largest, and the maximum distance value is used as the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153.

[0075] As an example, the preset distance between the projection area 150 and the rotating mirror is set to 8000 mm, α is 0.04°, and the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153 is calculated to be 3 mm. That is, the distance between the horizontal reflected light 153 and the horizontal reference light 151 should not exceed 3 mm.

[0076] It can be understood that the value range of the deviation angle α can be set as required, and the smaller the value range is, the higher the horizontal adjustment accuracy of the reflector 120 is.

[0077] It should be noted that, during the mounting process of the reflector, the deviation angle α is usually very small and cannot be recognized by the human eye, and requires the aid of a measuring tool. The present application amplifies the effect of the small deviation angle α by setting a preset distance.

[0078] As mentioned above, the deviation angle α of 0.04° at the preset distance of 8000mm is specifically reflected in the distance of 3mm between the horizontal reflected light 153 and the horizontal reference light 151 in the projection area 150. The deviation angle of 0.04° cannot be recognized by the human eye, but the distance of 3mm can be directly recognized by the human eye without the aid of measuring tools. Such a reflector debugging method of amplifying a small deviation angle at a long distance undoubtedly improves the efficiency of reflector mounting and reduces the cost of the reflector mounting process.

[0079] Furthermore, the principle of magnifying the effect of a small deviation angle α by the preset distance can be used to improve the mounting accuracy of the reflector. For example, the preset distance is set to 9000 mm, the deviation angle α is 0.03°, and the distance between the horizontal reflected light 153 and the horizontal reference light 151 in the projection area 150 is 4.7 mm. In this way, by increasing the preset distance to 9000 mm, the deviation angle α can be controlled within 0.03°, thereby improving the mounting accuracy of the reflector 120.

[0080] In one embodiment, based on the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 and the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153; Determine whether the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is less than a preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153; If yes, the reflector 120 completes the horizontal adjustment; If not, the position of the reflector 120 on the mounting surface 111 is adjusted so that the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is smaller than the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153 .

[0081] As an example, the position of the reflector 120 on the mounting surface 111 is adjusted to move the position of the horizontal reflected light 153 so that the positions of the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other. This can make the movement purpose of the reflector 120 clearer and improve the debugging efficiency.

[0082] At the same time, during the debugging process of the reflector, due to the effect of magnifying the small deviation angle at a long distance, when the reflector is moved, the change in the distance between the horizontal reflected light 153 and the horizontal reference light 151 in the projection area 150 can be directly seen. Through human eye observation and coordinated movement of the reflector 120, the horizontal reflected light 153 in the projection area 150 coincides with the horizontal reference light 151, and the actual vertical angle of the reflector 120 debugged in this way will be closer to the designed vertical angle of the reflector, and the debugging of each reflector 120 is convenient, efficient, and the number of debugging times of the reflector 120 is small.

[0083] In one embodiment, each time the reflector 120 is moved to make the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other, the reflector 120 needs to be fixed and the vertical angle of the fixed reflector 120 needs to be detected.

[0084] Specifically, the end points of the debugged reflector 120 are fixed using the second adhesive material; After the second adhesive material is solidified, it is re-determined whether the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is less than a preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153; If yes, the reflector 120 completes the horizontal adjustment.

[0085] If not, the solidified second adhesive material is destroyed, and the reflector 120 is moved again to make the positions of the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other, and then fixed again with the second adhesive material. After fixing, it is determined again whether the distance between the horizontal reference light 151 and the horizontal reflected light 153 is less than the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153.

[0086] Optionally, the second adhesive material is UV glue or quick-drying glue. After each debugging of the reflector 120, the positions of the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other. The position of the end point of the reflector 120 is fixed with UV glue, and the UV glue is irradiated with an ultraviolet lamp for 30 seconds to solidify it.

[0087] It should be noted that the second adhesive material, ultraviolet glue, is more viscous than the first adhesive material, silica gel. After the four ends of the reflector 120 are fixed by the second adhesive material, the reflector 120 is not easy to move, and the second adhesive material is quickly cured by ultraviolet rays, and the reflector 120 is completely fixed.

[0088] Re-determine whether the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is less than 3 mm; If yes, the reflector 120 completes the horizontal adjustment.

[0089] If not, the cured UV glue is destroyed, the reflector 120 is re-adjusted, bonded with UV glue and then irradiated for curing, and it is determined again whether the distance between the horizontal reference light 151 and the horizontal reflected light 153 is less than 3 mm.

[0090] It should be noted that the shrinkage rates of the first viscous material and the second viscous material should be close.

[0091] In this embodiment, UV glue is applied at the four ends of the reflector 120. The shrinkage rates of the UV glue and the silicone are similar, and the UV glue can be quickly cured by irradiating ultraviolet rays. In this way, the reflector 120 can be prevented from moving during the silicone curing process, thereby improving the qualified rate of the product. At the same time, during the debugging and bonding and fixing process of each reflector 120, the surface shape of the reflector 120 will not be affected, thereby ensuring the consistency of the surface shape of the reflector 120 before and after mounting.

[0092] In other embodiments, silica gel and UV glue can be replaced by other types of viscous substances, but the shrinkage rates of the two viscous substances need to be close, so that the movement amplitude of the reflector 120 can be reduced and the shape of the reflector 120 can be prevented from changing.

[0093] S320, vertical adjustment of the reflector.

[0094] Please refer to Figure 2 and Figure 4 In the vertical debugging of the reflector, a vertical reference light 152 and a vertical reflected light 154 are defined. The vertical reflected light 154 reaches the projection area 150 after passing through the reflector 120. The vertical reflected light 154 is offset from the vertical reference light 152 in the horizontal direction after reflection. By controlling the reflector 120, the horizontal distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is adjusted to complete the vertical debugging step of the reflector.

[0095] It can be understood that the internal angle of the rotating mirror is the angle between two adjacent reflectors 120 , and each internal angle value of the rotating mirror is equal. The theoretical value of each internal angle is (N-2)x180° / N, where N is a positive integer not less than 3.

[0096] As an example, the rotating wheel 110 has three mounting surfaces 111, N is 3, and the theoretical value of each internal angle of the rotating mirror is 60 degrees. In an ideal state, the angle between two adjacent reflectors (i.e., the internal angle of the rotating mirror) is 60 degrees. In the actual production process, there is a deviation angle β between the actual internal angle value and the theoretical internal angle value. The vertical adjustment of the reflector makes the deviation angle β close to 0°.

[0097] S321 , define the vertical reference light 152 and the vertical reflected light 154 .

[0098] Specifically, the vertical reference light 152 is obtained by any of the following methods: First, a standard rotating mirror with the same parameters is set at the same position as the rotating wheel 110 , and the vertical reflected light 154 reflected by the standard rotating mirror to the projection area 150 is defined as the vertical reference light 152 .

[0099] The second method is to rotate the wheel 110 to obtain vertical reflected light 154 based on all the reflectors 120 in the projection area 150 .

[0100] Based on the vertical reflected light rays 154 based on all the reflectors 120 in the projection area 150 , an average value of all the vertical reflected light rays 154 is obtained; The average value of all the vertical reflected rays 154 is defined as the vertical reference ray 152 .

[0101] The third method is to mount the first reflector 120 on a mounting surface 111 of the rotating wheel 110, and then measure the actual internal angle value of the first reflector 120 to obtain the deviation angle between the actual internal angle value and the theoretical internal angle value; It is understandable that the selection of the above three methods affects the mounting method of the reflector. If the first method and / or the third method are selected to obtain the vertical reference light, you can attach a reflector for vertical adjustment and then attach the next reflector; or first attach some reflectors for horizontal vertical adjustment and then attach the remaining reflectors; or attach all reflectors and then perform vertical adjustment. That is, the first method and / or the third method have no effect on the mounting method of the reflector. If the second method is selected to obtain the vertical reference light, all reflectors need to be attached and then vertical adjustment needs to be performed. Due to the second method, all reflectors need to be attached before the vertical reflected light of all reflectors can be obtained by rotating the wheel.

[0102] Calculate the deviation distance of the first reflector 120 in the projection area 150 based on the deviation angle and the preset distance between the projection area 150 and the rotating mirror; The light obtained by offsetting the vertical reflected light 154 of the first reflector 120 based on the deviation distance is defined as the vertical reference light 152 .

[0103] S322, by controlling the reflector 120, adjusting the distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150, completing the vertical adjustment of the reflector.

[0104] Specifically, the vertical reflected light 154 passes through the center of the reflector 120 and then reflects to reach the projection area 150 .

[0105] The actual distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is obtained. As mentioned above, the vertical reflected light 154 is offset from the vertical reference light 152 in the horizontal direction after reflection, and there is a distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 in the horizontal direction.

[0106] According to the preset distance between the projection area 150 and the rotating mirror, a preset value of the distance between the vertical reference light 152 and the vertical reflected light 154 is obtained. It can be understood that, when the posture of the reflector 120 is determined, the greater the preset distance between the projection area 150 and the rotating mirror, the greater the distance between the vertical reference light 152 and the vertical reflected light 154.

[0107] As an example, 0≤β<0.04° is satisfied. When β is 0°, it indicates that the internal angle value of the rotating mirror is the theoretical internal angle value, and the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 overlap. The larger the deviation angle β is, the larger the distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is. When β is 0.04°, the distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is the largest, and the maximum distance value is used as the preset value of the distance between the vertical reference light 152 and the vertical reflected light 154.

[0108] As an example, the preset distance between the projection area 150 and the rotating mirror is set to 8000 mm, β is 0.04°, and the preset value of the distance between the vertical reference light 152 and the vertical reflected light 154 is calculated to be 3 mm. That is, the distance between the vertical reflected light 154 and the vertical reference light 152 should not exceed 3 mm.

[0109] It can be understood that the value range of the deviation angle β can be set as required. The smaller the value range, the higher the inner angle control accuracy of the rotating mirror.

[0110] In one embodiment, based on the actual distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 and the preset value of the distance between the vertical reference light 152 and the vertical reflected light 154; Determine whether the actual distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is less than a preset value of the distance between the vertical reference light 152 and the vertical reflected light 154; If yes, the vertical adjustment of the reflector is completed; If not, adjust the position of the reflector 120 on the mounting surface 111 so that the actual distance between the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 is smaller than the preset value of the distance between the vertical reference light 152 and the vertical reflected light 154 .

[0111] As an example, the position of the reflector 120 on the mounting surface 111 is adjusted to move the position of the vertical reflected light 154 so that the positions of the vertical reference light 152 and the vertical reflected light 154 in the projection area 150 coincide with each other. This can make the movement purpose of the reflector 120 clearer and improve the debugging efficiency.

[0112] It should be noted that during each debugging process of the reflector 120, the horizontal debugging and vertical debugging of the reflector can be performed simultaneously. In order to make the display of light in the projection area 150 more concise, the light source 140 only projects one horizontal reflected light, one horizontal reference light and one vertical reflected light.

[0113] During each debugging process of the reflector 120, the position of the horizontal reflected light 153 and the position of the horizontal reference light 151 can be synchronously debugged to coincide with each other, and the position of the vertical reflected light 154 and the position of the vertical reference light 152 can be synchronized to coincide with each other, so as to reduce the number of debugging times of the reflector 120 and improve the production efficiency of the rotating mirror.

[0114] After the distance between the horizontal reflected light 153 and the horizontal reference light 151 and the distance between the vertical reflected light 154 and the vertical reference light 152 are adjusted, the reflector 120 needs to be fixed and then tested.

[0115] The fixing and detection of the reflector after the above distance adjustment is completed include: Using a second adhesive material to fix the end points of the debugged reflector 120; After the second adhesive material is solidified, it is re-determined whether the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is less than the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153, and whether the distance between the vertical reflected light 154 and the vertical reference light 152 is less than the preset value of the distance between the vertical reflected light 154 and the vertical reference light 152; If both conditions are met at the same time, the reflector 120 completes the horizontal adjustment and the vertical adjustment.

[0116] If any of the conditions is not met, the solidified second adhesive material is destroyed, and the reflector 120 is moved again to make the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other, and the vertical reflected light 154 and the vertical reference light 152 coincide with each other. Then, the second adhesive material is used to fix them. After fixation, it is determined again whether the distance between the horizontal reference light 151 and the horizontal reflected light 153 is less than the preset value of the distance between the horizontal reference light 151 and the horizontal reflected light 153, and whether the distance between the vertical reflected light 154 and the vertical reference light 152 is less than the preset value of the vertical reflected light 154 and the vertical reference light 152.

[0117] As an example, the second adhesive material is UV glue or quick-drying glue. After each debugging of the reflector 120, the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 coincide with each other, and the vertical reflected light 154 and the vertical reference light 152 coincide with each other. The position of the end point of the reflector 120 is fixed with UV glue, and the UV glue is irradiated with an ultraviolet lamp for 30 seconds to solidify it.

[0118] After the UV glue is cured, re-determine whether the actual distance between the horizontal reference light 151 and the horizontal reflected light 153 in the projection area 150 is less than 3 mm, and whether the distance between the vertical reflected light 154 and the vertical reference light 152 is less than 3 mm; If both conditions are met at the same time, the reflector completes horizontal adjustment and vertical adjustment.

[0119] If any condition is not met, the cured UV glue is destroyed, the reflector 120 is moved again, bonded with UV glue and then irradiated for curing, and it is determined again whether the distance between the horizontal reference light 151 and the horizontal reflected light 153 is less than 3 mm, and whether the distance between the vertical reflected light 154 and the vertical reference light 152 is less than 3 mm.

[0120] S400, completing the debugging of the reflector 120 according to the debugging steps of the reflector 120.

[0121] Specifically, the edges of adjacent reflectors 120 are engaged with each other to ensure that the vertical angle of each reflector 120 of the manufactured rotating mirror and the surface shape of each reflector 120 are qualified.

[0122] S500: mounting the reflector 120 on the rotating wheel.

[0123] S600, rotating mirror quality inspection.

[0124] After all the reflectors 120 are mounted on the rotating wheel, the vertical angles of all the reflectors 120 and all the internal angles of the rotating mirrors need to be tested. If all are qualified, the rotating mirrors are left stationary. If any one item is unqualified, the unqualified reflectors are re-adjusted.

[0125] As mentioned above, during the lens mounting process of the rotating mirror, the positions of the central axis of the light source 140, the projection area 150 and the rotating wheel 110 are fixed, and only the position of the mounting surface 111 on the rotating wheel 110 rotates. During the rotation of the rotating wheel 110, the position of the adjusted reflector 120 will be affected.

[0126] At the same time, as mentioned above, the edges of adjacent reflectors 120 are engaged, and during the engagement and mounting process, the rear reflector 120 may touch the previously fixed reflector 120 , thereby causing the position of the previously debugged reflector 120 to shift.

[0127] Based on the existence of the above two situations, after all the reflectors of the rotating mirror are mounted, it is necessary to detect the vertical angles of all the reflectors 120 of the rotating mirror and all the internal angles of the rotating mirror to improve the qualified rate of the rotating mirror.

[0128] S610 , detecting the vertical angles of all the reflectors 120 .

[0129] Specifically, after all the reflectors 120 are mounted on the rotating wheel 110 , the positions of the central axis of the light source 140 , the projection area 150 and the rotating wheel 110 are kept fixed so that the reference of each reflector 120 remains unchanged.

[0130] See also Figure 3 , rotate the rotating wheel 110 to obtain the horizontal reflected light 153 based on all the reflectors 120 in the projection area 150.

[0131] As an example, as mentioned above, the projection area 150 is a projection plane on the projection board, and the horizontal reflected light rays 153 of all the reflectors 120 can be recorded one by one on the projection board with a pen.

[0132] The maximum distance is obtained based on the horizontal reflected light rays 153 based on all the reflectors 120 in the projection area 150. As an example, a maximum spacing value D1 of all the horizontal reflected light rays 153 in the vertical direction is measured using a vernier caliper with millimeter accuracy.

[0133] Based on the maximum distance and the preset distance between the projection area 150 and the rotating mirror, the angle deviation of the rotating mirror is obtained. As an example, based on the maximum spacing value D1 and the preset distance L between the projection area 150 and the rotating mirror, the deviation angle γ of all the reflectors 120 of the rotating mirror at a vertical angle is calculated, γ=arctan(D1 / L).

[0134] It is determined whether the angle deviation of the rotating mirror is less than a preset value. As an example, 0≤γ<0.04° is preset.

[0135] If so, the vertical angle detection of all the reflectors 120 of the rotating mirror is completed.

[0136] If not, all the reflectors 120 are re-adjusted to ensure that the angle deviation of the rotating mirror is less than the preset value. As an example, when γ>0.04°, the two reflectors 120 forming the largest spacing are re-adjusted first.

[0137] Re-adjusting the two reflectors 120 to form the maximum spacing includes: One of the two reflectors 120 is selected to destroy the second adhesive material thereon, and the above-mentioned step S300 of debugging the reflector 120 is repeated.

[0138] The original record of the horizontal reflected light 153 of the reflector 120 is erased on the projection area 150, and the horizontal reflected light 153 of the reflector 120 is re-recorded. The maximum spacing D1 of the horizontal reflected light 153 based on all the reflectors 120 in the projection area 150 is remeasured, and the size of the γ value is recalculated until the size of the γ value meets the preset requirements.

[0139] It should be noted that step S610 is for a rotating mirror in which all reflectors have the same vertical angle requirement. If all reflectors of the rotating mirror have different vertical angle requirements, this step may not be performed.

[0140] S620, detecting all inner angles of the rotating mirror.

[0141] Specifically, after all the reflectors 120 are mounted on the rotating wheel 110 , the positions of the central axis of the light source 140 , the projection area 150 and the rotating wheel 110 are kept fixed so that the reference of each reflector 120 remains unchanged.

[0142] See also Figure 4 , rotate the wheel 110 to obtain the vertical reflected light 154 based on all the reflectors 120 in the projection area 150. As an example, as mentioned above, the projection area 150 is a projection plane on the projection board, and the vertical reflected light 154 of all the reflectors 120 can be recorded one by one on the projection board with a pen.

[0143] The maximum distance is obtained based on the vertical reflected light rays 154 based on all the reflectors 120 in the projection area 150. As an example, a maximum spacing value D2 of all the vertical reflected light rays 154 in the horizontal direction is measured using a vernier caliper with millimeter accuracy.

[0144] Based on the maximum distance and the preset distance between the projection area 150 and the rotating mirror, the angle deviation of the rotating mirror is obtained. As an example, based on the maximum spacing value D2 and the preset distance L between the projection area 150 and the rotating mirror, the deviation angle δ of all the reflectors 120 of the rotating mirror at a vertical angle is calculated, δ=arctan(D2 / L).

[0145] It is determined whether the angle deviation of the rotating mirror is less than a preset value. As an example, 0≤δ<0.04° is preset.

[0146] If so, the detection of all inner corners of the rotating mirror is completed.

[0147] If not, all the reflectors 120 are re-adjusted to ensure that the angle deviation of the rotating mirror is less than the preset value. As an example, when δ>0.04°, the two reflectors 120 forming the largest spacing are re-adjusted first.

[0148] Re-adjusting the two reflectors 120 to form the maximum spacing includes: One of the two reflectors 120 is selected to destroy the second adhesive material thereon, and the above-mentioned step S300 of debugging the reflector 120 is repeated.

[0149] It should be noted that step S610 and step S620 can be performed simultaneously.

[0150] The synchronous execution of step S610 and step S620 includes: After all the reflectors 120 are mounted on the rotating wheel 110 , the positions of the central axis of the light source 140 , the projection area 150 and the rotating wheel 110 are kept fixed so that the reference of each reflector 120 remains unchanged.

[0151] The rotating wheel 110 is rotated to obtain horizontal reflected light 153 and vertical reflected light 154 based on all the reflectors 120 in the projection area 150 .

[0152] Based on the horizontal reflected light 153 and the vertical horizontal light based on all the reflectors 120 in the projection area 150, the maximum distance is obtained.

[0153] Based on the maximum distance of the horizontal reflected light 153 and the preset distance between the projection area 150 and the rotating mirror, the angular deviation of the vertical angles of all the reflectors 120 of the rotating mirror is obtained; based on the maximum distance of the vertical reflected light 154 and the preset distance between the projection area 150 and the rotating mirror, the angular deviation of all the internal angles of the rotating mirror is obtained.

[0154] It is determined whether the angle deviation of the vertical angle of all the reflectors 120 of the rotating mirror is less than a preset value; and it is also determined whether the angle deviation of all the inner angles of the rotating mirror is less than a preset value.

[0155] If the two angle deviations are both smaller than the preset values, the mirror quality inspection is completed.

[0156] If any one of the two angle deviations is greater than a preset value, all the reflectors 120 are re-adjusted to ensure that the two angle deviations of the rotating mirrors are respectively less than the corresponding preset values.

[0157] After the vertical angle detection of all the reflectors 120 and the internal angle detection of all the rotating mirrors are completed, the qualified rotating mirrors are placed still.

[0158] Specifically, the rotating mirror is left to stand for 10 to 24 hours to solidify the first adhesive substance.

[0159] After the first adhesive material is solidified, step S610 and step S620 need to be repeated to further improve the quality of the rotating mirror.

[0160] After the rotating mirror is left to stand, the quality is inspected, and the qualified rotating mirror is cleaned and packaged. Specifically, each reflector 120 is cleaned with a dust-free cloth dipped in alcohol to prevent impurities and fingerprints, and finally a protective film is used to cover the surface of each reflector 120 to prevent scratches, dust, etc. on the surface of the reflector 120.

[0161] Steps S100 to S600 provide a new, low-cost lens mounting method for a rotating mirror that can effectively solve the vertical angle and surface shape problems of the rotating mirror, and provide a technical basis for high-precision mass production of rotating mirrors.

[0162] The mounting method of the rotating mirror provided in step S100 to step S600 does not need to use a fixture to press the reflector onto the rotating wheel, so the surface shape of the reflector will not be changed. At the same time, the reflector is debugged by optical reflection method to control the vertical angle within the qualified range, thereby improving the qualified rate of the product rotating mirror.

[0163] In addition, the lens mounting method of the rotating mirror provided in step S100 to step S600 does not require coating or polishing of the surface of the reflector, thereby reducing the production cost of the lens mounting process and being suitable for mass production.

[0164] The present application also provides a rotating mirror, which is made by the lens mounting method of the rotating mirror in any of the above embodiments. The rotating mirror made by the above method has a high pass rate; and the size requirements of the rotating wheel 110 during the mounting process are low, which greatly reduces the cost of the lens mounting process of the rotating wheel 110; at the same time, during the fixing and moving process of each reflector 120, the surface shape of the reflector 120 will not be affected, ensuring the consistency of the surface shape of the reflector 120 before and after mounting.

[0165] The present application also provides a laser radar scanning system, including the aforementioned rotating mirror, so as to reduce the cost of the lens mounting process of the rotating mirror, thereby reducing the production cost of the laser radar scanning system.

[0166] The present application also provides a laser radar, including a rotating mirror as described above or a scanning system of the laser radar as described above. In the related art, the lens process cost of the rotating mirror 1 accounts for about 10% of the laser radar cost, and the mounting process cost of the rotating mirror lens accounts for 5% of the laser radar cost, which greatly reduces the production cost of the laser radar. At the same time, by ensuring the consistency of the surface shape of the reflector 120 before and after mounting, the measurement accuracy and distance measurement capability of the laser radar are improved; optical debugging controls the vertical angle of each reflector 120 and each internal angle of the rotating mirror within the qualified range, ensuring the angular resolution of the laser radar.

[0167] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0168] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A lens mounting method for a rotating mirror, wherein the rotating mirror comprises a rotating wheel and N reflecting mirrors, wherein the rotating wheel has N mounting surfaces, wherein N is a positive integer not less than 3; characterized in that: The lens mounting method comprises: Setting a projection area, wherein the projection area and the rotating mirror are set at a preset distance; Mounting a reflector on a mounting surface of the rotating wheel; All reflectors are mounted on the rotating wheel; Defining the reflector debugging step includes: defining a reference light and a reflected light, wherein the reflected light is reflected by the reflector to reach the projection area; by controlling the reflector, adjusting the distance between the reference light and the reflected light in the projection area, and completing the debugging of the reflector; Complete the debugging of the reflector according to the reflector debugging steps; The reflector debugging step includes vertical debugging of the reflector; In the vertical debugging of the reflector, a vertical reference light and a vertical reflected light are defined. The vertical reflected light reaches the projection area after passing through the reflector. After reflection, the vertical reflected light is offset from the vertical reference light in the horizontal direction. By controlling the reflector, the horizontal distance between the vertical reference light and the vertical reflected light in the projection area is adjusted to complete the vertical debugging of the reflector.

2. The lens mounting method of a rotating mirror according to claim 1, characterized in that: The vertical reference light is obtained by: A standard rotating mirror with the same parameters is set at the same position as the rotating wheel, and the vertical reflected light reflected by the standard rotating mirror to the projection area is defined as the vertical reference light; Or, rotating the wheel to obtain vertical reflected light based on all reflectors in the projection area; Based on the vertical reflected light rays based on all reflectors in the projection area, the average value of all vertical reflected light rays is obtained; The average value of all the vertical reflected rays mentioned above is defined as the vertical reference ray; Or, after mounting the first reflector on a mounting surface of the rotating wheel, measuring the actual internal angle value of the first reflector to obtain a deviation angle between the actual internal angle value and the theoretical internal angle value; Calculating the deviation distance of the first reflector in the projection area based on the deviation angle and the preset distance between the projection area and the rotating mirror; The light obtained by offsetting the vertical reflected light of the first reflector based on the deviation distance is defined as the vertical reference light.

3. The lens mounting method of a rotating mirror according to claim 1 or 2, characterized in that: The reflector debugging step includes horizontal debugging of the reflector; In the horizontal debugging of the reflector, a horizontal reference light and a horizontal reflected light are defined. The horizontal reference light and the horizontal reflected light are emitted from the same horizontal plane. The horizontal reflected light reaches the projection area after passing through the reflector. The horizontal reflected light deviates from the original horizontal plane after reflection. The horizontal reference light is always in the original horizontal plane. By controlling the reflector, the distance between the horizontal reference light and the horizontal reflected light in the projection area is adjusted to complete the horizontal debugging of the reflector.

4. The lens mounting method of a rotating mirror according to claim 3, characterized in that: The horizontal reference light is obtained by: A standard rotating mirror with the same parameters is set at the same position as the rotating wheel, and the light reflected by the standard rotating mirror to the projection area is defined as the horizontal reference light; Alternatively, the light obtained by directly reflecting the horizontal light on the projection area is defined as the horizontal reference light.

5. The lens mounting method of a rotating mirror according to claim 1, 2 or 4, characterized in that: The step of debugging the reflector includes controlling the reflector to adjust the distance between the reference light and the reflected light in the projection area to complete the debugging of the reflector, including: The horizontal / vertical reflected light passes through the center of the reflector and then reflects to the projection area; Get the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area; According to the preset distance between the projection area and the rotating mirror, the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light is obtained; Based on the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area and the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light, the debugging of the reflector is completed.

6. The lens mounting method of a rotating mirror according to claim 5, characterized in that: The debugging of the reflector is completed based on the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area and the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light, including: Determine whether the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area is less than a preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light; If yes, the reflector is debugged; If not, adjust the position of the reflector on the mounting surface so that the actual distance between the horizontal / vertical reference light and the horizontal / vertical reflected light in the projection area is smaller than the preset value of the distance between the horizontal / vertical reference light and the horizontal / vertical reflected light.

7. The lens mounting method of a rotating mirror according to claim 1, 2, 4 or 6, characterized in that: After all the reflectors are mounted on the rotating wheel, the method includes: Rotate the wheel to obtain the reflected light based on all the reflectors in the projection area; Based on the reflected light from all the reflectors in the projection area, the maximum distance is obtained; Based on the maximum distance and the preset distance between the projection area and the rotating mirror, the angular deviation of the rotating mirror is obtained; Determine whether the angle deviation of the rotating mirror is less than a preset value; If not, re-adjust all reflectors to ensure that the angle deviation of the rotating mirror is less than the preset value.

8. The lens mounting method of a rotating mirror according to claim 1, 2, 4 or 6, characterized in that: Before the step of mounting a reflector onto a mounting surface of the rotating wheel, the method further comprises: Using a first adhesive substance to adhere the reflector to the mounting surface, wherein the reflector is movable relative to the rotating wheel; After all the reflectors are mounted on the rotating wheel, the method includes: After the first viscous material is solidified, the rotating wheel is rotated again to obtain reflected light based on all reflectors in the projection area after the first viscous material is solidified; Obtaining a maximum distance after the first adhesive substance is solidified based on the reflected light rays based on all the reflectors in the projection area after the first adhesive substance is solidified; Obtaining an angle deviation of the rotating mirror after the first adhesive substance is solidified based on a maximum distance after the first adhesive substance is solidified and a preset distance between the projection area and the rotating mirror; Determining whether the angle deviation of the rotating mirror after the first adhesive substance is solidified is less than a preset value; If not, all the reflectors are re-adjusted to ensure that the angle deviation of the rotating mirror is less than the preset value after the first adhesive material is solidified.

9. The lens mounting method of a rotating mirror according to claim 1, 2, 4 or 6, characterized in that: After completing the step of debugging the reflector, the method further includes: Using a second adhesive material to fix the end points of the debugged reflector; After the second adhesive material is solidified, re-determining whether the actual distance between the reference light and the reflected light in the projection area is less than a preset value of the distance between the reference light and the reflected light; If not, the solidified second adhesive material is destroyed, and the reflector is re-fixed to ensure that the actual distance between the reference light and the reflected light in the projection area is smaller than the preset value of the distance between the reference light and the reflected light.

10. A rotating mirror, characterized in that: The invention is manufactured by the lens mounting method of the rotating mirror described in any one of claims 1 to 9.

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