Laser radar adjusting device and system

Abstract

The utility model relates to a laser radar adjusting device and system. The laser radar adjusting device comprises a motion unit, a positioning unit, an adjusting unit, a reflection unit, a presentation unit and an image acquisition unit. The device has the advantages that the adjusting unit is used for replacing manual adjustment, the cleanliness of the adjusting environment and the strength of adjusting products are guaranteed, and the product yield is increased; the image acquisition unit is used for replacing manual work to acquire broadcast and television information, human eye damage and product adjustment misjudgment caused by long time are prevented, the acquisition efficiency is improved, and the misjudgment rate is reduced; the adjusting unit is matched with the image acquisition unit, so that the adjusting time is shortened, the adjusting efficiency is improved, and the production cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of lidar emission angle adjustment technology, and in particular to lidar adjustment device and system. Background Technology

[0002] In existing technologies, the angle of the emitting mirror of the assembled lidar needs to be adjusted. For example... Figure 1 As shown, the staff places the lidar to be adjusted onto the vehicle positioning platform and then performs manual adjustments. The specific steps are as follows:

[0003] The radar body is manually placed on the workbench and fixed in position. The start button is pressed. According to the 32 light spots emitted by the laser radar transmitter and receiver, a total of 64 light spots are reflected onto the background plate through the reflector assembly. The position of each bright spot is observed by the human eye. The adjustment screws on the receiving reflector adjustment assembly are manually adjusted to make the 64 light spots recombine into 32 light spots.

[0004] However, this kind of manual adjustment has the following drawbacks:

[0005] 1) Because lidar has high requirements for the cleanliness of the production environment, manual adjustment can easily affect the cleanliness of the adjustment environment;

[0006] 2) Different staff members have different operating techniques and force, which can easily damage the product due to excessive force, resulting in a low yield rate;

[0007] 3) Observing the position of the laser beam manually for a long time can easily damage the eyes of the workers;

[0008] 4) Manually observing the position of the laser emission spot can easily lead to misjudgment over long periods of time, resulting in a low yield rate.

[0009] Currently, no effective solutions have been proposed for the problems existing in related technologies, such as the inability to guarantee environmental cleanliness, the ease with which manual adjustments can damage products, the potential for eye damage from prolonged observation of light spots, and the likelihood of misjudgment during manual observation. Utility Model Content

[0010] The purpose of this invention is to address the shortcomings of existing technologies by providing a lidar adjustment device and system to solve problems such as the inability to guarantee environmental cleanliness, easy damage to products due to manual adjustment, eye damage from prolonged light observation, and easy misjudgment due to manual observation.

[0011] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0012] In a first aspect, this utility model provides a lidar adjustment device for adjusting the emission angle of a lidar, comprising:

[0013] A motion unit, wherein the motion unit is disposed on a horizontal plane;

[0014] A positioning unit, which is set on a horizontal plane, is used to support the lidar to be adjusted and to reciprocate along a preset direction under the action of the motion unit;

[0015] An adjustment unit is disposed on the side of the motion unit and is used to adjust the emission angle of the lidar;

[0016] A reflecting unit, which is disposed at the top of the motion unit, is used to reflect the laser emitted by the lidar;

[0017] A presentation unit is disposed on the side of the reflection unit and is used to present the laser image reflected by the reflection unit;

[0018] An image acquisition unit is disposed between the reflection unit and the presentation unit, and is used to acquire a laser image located on the presentation unit so that the adjustment unit adjusts the emission angle of the lidar according to the laser image.

[0019] In some embodiments, the motion unit includes:

[0020] A first driving element, wherein the first driving element is disposed on a horizontal plane;

[0021] A first track element, wherein the first track element is disposed on a horizontal plane;

[0022] The first sliding element is slidably connected to the first track element and connected to the first driving element, and is used to reciprocate along the first track element under the action of the first driving element;

[0023] A first bearing element is connected to the first sliding element and the positioning unit respectively, and is used to drive the positioning unit to reciprocate along a preset direction under the action of the first sliding element.

[0024] In some embodiments, the motion unit further includes:

[0025] A first sensing element is disposed at a first end of the first track element and is used to sense the position of the first sliding element;

[0026] The second sensing element is disposed at the second end of the first track element and is used to sense the position of the first sliding element.

[0027] In some embodiments, the positioning unit includes:

[0028] A base element is disposed on the motion unit and is used to reciprocate along a preset direction under the action of the motion unit;

[0029] The second support element is disposed at the top of the base element and is used to support the lidar to be adjusted;

[0030] The second driving element is disposed at the top of the base element and located on the side of the second bearing element;

[0031] The second track element is disposed at the top of the base element and connected to the second drive element;

[0032] The second sliding element is slidably connected to the second track element and is used to reciprocate along a preset direction under the action of the second driving element;

[0033] A third sliding element is slidably connected to the second track element and is used to reciprocate along a preset direction under the action of the second driving element, wherein the movement direction of the third sliding element is opposite to the movement direction of the second sliding element;

[0034] A first limiting element is connected to a second sliding element and is used to move along a first direction under the action of the second sliding element to abut against one side of the lidar.

[0035] The second limiting element is connected to the third sliding element and is used to move along a second direction under the action of the third sliding element to abut against the other side of the lidar, wherein the second direction is opposite to the first direction.

[0036] In some embodiments, the positioning unit further includes:

[0037] The third track element is disposed at the top of the base element and located on the side of the second drive element;

[0038] A fourth sliding element is slidably connected to the third track element and connected to the first limiting element to improve the sliding stability of the first limiting element.

[0039] The fifth sliding element is slidably connected to the third track element and connected to the second limiting element to improve the sliding stability of the second limiting element.

[0040] In some embodiments, the adjustment unit includes:

[0041] A multi-axis robot element, wherein the multi-axis robot element is disposed on a horizontal plane and located on the side of the motion unit;

[0042] A first mounting element is disposed at the end of the multi-axis robot element;

[0043] An adjustment element is disposed on one side of the first mounting element and is used to adjust the emission angle of the lidar;

[0044] A first image acquisition element is disposed on the other side of the first mounting element, and is used to acquire images from the lidar for the multi-axis robot element to perform position adjustment and the adjustment element to perform emission angle adjustment.

[0045] In some embodiments, the reflective unit includes:

[0046] A second mounting element is disposed at the top of the motion unit;

[0047] A reflective element is disposed at the bottom end of the second mounting element for reflecting the laser emitted by the lidar.

[0048] In some embodiments, the reflective unit further includes:

[0049] Two support elements are symmetrically arranged at the top of the second mounting element;

[0050] A first rotating element is disposed between the two bracket elements, and its two ends are respectively connected to the two bracket elements, for driving the second mounting element to rotate along the first rotation direction through the two bracket elements;

[0051] A second rotating element is rotatably connected to the first rotating element;

[0052] A first locking element is locked to the second rotating element to lock the second rotating element and prevent relative rotation between the first rotating element and the second rotating element.

[0053] A third rotating element is connected to the second rotating element and is used to drive the second rotating element to rotate along a second rotating direction, wherein the second rotating direction is different from the first rotating direction;

[0054] At least one fourth rotating element, the fourth rotating element being rotatably connected to the third rotating element;

[0055] At least one second locking element is provided, which is locked to the corresponding fourth rotating element to lock the fourth rotating element and prevent the third rotating element from rotating relative to the fourth rotating element.

[0056] A first fixing element is connected to the fourth rotating element;

[0057] The second fixing element is disposed at the top of the motion unit;

[0058] At least one connecting element is provided, which is connected to the first fixing element and the second fixing element respectively.

[0059] In some embodiments, the image acquisition unit includes:

[0060] A third mounting element is disposed at the top of the motion unit and located on the side of the reflection unit;

[0061] A second image acquisition element, disposed on the third mounting element, is used to acquire a laser image located on the presentation unit so that the adjustment unit adjusts the emission angle of the lidar according to the laser image.

[0062] In some of these embodiments, it also includes:

[0063] A base unit is disposed on a horizontal plane, and the top of the base unit is provided with the motion unit and the adjustment unit, and is respectively connected to the motion unit and the adjustment unit;

[0064] A support unit is disposed at the top of the base unit and is connected to the base unit, the reflection unit, and the image acquisition unit respectively.

[0065] Secondly, this utility model provides a lidar adjustment system, comprising:

[0066] The lidar adjustment device as described in the first aspect;

[0067] A control device is provided, which is connected to the motion unit, the positioning unit, the adjustment unit, and the image acquisition unit of the lidar adjustment device.

[0068] The present invention adopts the above technical solution and has the following technical effects compared with the prior art:

[0069] This utility model discloses a lidar adjustment device and system that utilizes an adjustment unit to replace manual adjustment, ensuring the cleanliness of the adjustment environment and the strength of product adjustment, thereby improving product yield. It also utilizes an image acquisition unit to replace manual photoelectric information acquisition, preventing eye damage and misjudgment of product adjustment caused by prolonged use, improving acquisition efficiency, and reducing the misjudgment rate. The combined use of the adjustment unit and the image acquisition unit shortens the adjustment time, improves adjustment efficiency, and reduces production costs. Attached Figure Description

[0070] Figure 1 This is a schematic diagram of a vehicle positioning platform based on existing technology;

[0071] Figure 2 This is a schematic diagram of a lidar adjustment device according to an embodiment of the present invention;

[0072] Figure 3 This is a schematic diagram of the motion unit according to an embodiment of the present utility model;

[0073] Figure 4 This is a schematic diagram of the positioning unit according to an embodiment of the present utility model;

[0074] Figure 5 This is a schematic diagram of the adjustment unit according to an embodiment of the present utility model;

[0075] Figure 6 This is a schematic diagram of a reflective unit according to an embodiment of the present utility model;

[0076] Figure 7 This is a schematic diagram of an image acquisition unit according to an embodiment of the present utility model;

[0077] Figure 8 This is a schematic diagram of a lidar adjustment system according to an embodiment of the present invention.

[0078] The reference numerals in the accompanying drawings are as follows: 100, motion unit; 101, first driving element; 102, first track element; 103, first sliding element; 104, first bearing element; 105, first sensing element; 106, second sensing element;

[0079] 200. Positioning unit; 201. Base element; 202. Second bearing element; 203. Second driving element; 207. First limiting element; 208. Second limiting element; 209. Third track element; 210. Fourth sliding element; 211. Fifth sliding element;

[0080] 300. Adjustment unit; 301. Multi-axis robot component; 302. First mounting component; 303. Adjustment component; 304. First image acquisition component;

[0081] 400. Reflecting unit; 401. Second mounting element; 402. Reflecting element; 403. Support element; 404. First rotating element; 405. Second rotating element; 406. First locking element; 407. Third rotating element; 408. Fourth rotating element; 409. Second locking element; 410. First fixing element; 411. Second fixing element; 412. Connecting element;

[0082] 500, Presentation Unit;

[0083] 600, Image acquisition unit; 601, Third mounting element; 602, Second image acquisition element;

[0084] 700, Base Unit;

[0085] 800, Support Unit;

[0086] A. LiDAR adjustment device; B. Control device. Detailed Implementation

[0087] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0088] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0089] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0090] Example 1

[0091] This embodiment relates to the lidar adjustment device of this utility model.

[0092] An illustrative embodiment of this utility model, such as Figure 2As shown, a lidar adjustment device for adjusting the emission angle of a lidar includes a motion unit 100, a positioning unit 200, an adjustment unit 300, a reflection unit 400, a presentation unit 500, and an image acquisition unit 600. The motion unit 100 is disposed on a horizontal plane; the positioning unit 200 is also disposed on a horizontal plane and is used to support the lidar to be adjusted and to reciprocate along a preset direction under the action of the motion unit 100; the adjustment unit 300 is disposed on the side of the motion unit 100 and is used to adjust the emission angle of the lidar; the reflection unit 400 is disposed at the top of the motion unit 100 and is used to reflect the laser emitted by the lidar; the presentation unit 500 is disposed on the side of the reflection unit 400 and is used to present the laser image reflected by the reflection unit 400; the image acquisition unit 600 is disposed between the reflection unit 400 and the presentation unit 500 and is used to acquire the laser image located at the presentation unit 500 so that the adjustment unit 300 adjusts the emission angle of the lidar according to the laser image.

[0093] In this invention, the lidar adjustment device is mainly used in the production of lidar products in the automotive electronics industry.

[0094] The method of using this utility model is as follows:

[0095] The staff placed the lidar to be adjusted into the positioning unit 200;

[0096] The positioning unit 200 is in operation to fix the lidar to be adjusted, preventing the lidar to be adjusted from falling.

[0097] When motion unit 100 is working, the positioning unit 200 moves to the adjustment position;

[0098] The internal transmitter and receiver of the lidar to be adjusted each emit 32 light spots (64 light spots in total), which are reflected by the reflection unit 400 to the presentation unit 500.

[0099] The image acquisition unit 600 acquires the laser image (i.e., light spot information) located in the presentation unit 500, and the adjustment unit 300 adjusts the lidar according to the light spot information fed back by the image acquisition unit 600 until 64 light spots are recombined into 32 light spots;

[0100] After adjustment, the motion unit 100 operates, moving the positioning unit 200 to the unloading station;

[0101] Positioning unit 200 is activated, releasing the fixation on the debugged lidar, and the staff removes the lidar;

[0102] Repeat the above steps until all lidar units have completed the adjustment process.

[0103] In this invention, the presentation unit 500 includes, but is not limited to, a background plate.

[0104] like Figure 3 As shown, the motion unit 100 includes a first driving element 101, a first track element 102, a first sliding element 103, and a first bearing element 104. The first driving element 101 is disposed on a horizontal plane; the first track element 102 is disposed on a horizontal plane; the first sliding element 103 is slidably connected to the first track element 102 and connected to the first driving element 101, and is used to reciprocate along the first track element 102 under the action of the first driving element 101; the first bearing element 104 is connected to the first sliding element 103 and the positioning unit 200 respectively, and is used to drive the positioning unit 200 to reciprocate along a preset direction under the action of the first sliding element 103.

[0105] In this invention, the motion unit 100 is a linear motion module driven by a linear motor. The working principle is to convert electrical energy into linear motion using the electromagnetic induction principle of the linear motor. Generally, a linear motor includes a stator and a mover; the stator generates a magnetic field, and the mover achieves linear motion under the influence of the magnetic field.

[0106] In some of these embodiments, the first drive element 101 is a linear motor.

[0107] In some of these embodiments, the first track element 102 is made of aluminum alloy.

[0108] In some embodiments, the first track element 102 is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the first sliding element 103 can move precisely in a straight line along a predetermined path.

[0109] In some of these embodiments, the first sliding element 103 is made of high-strength alloy steel.

[0110] In some embodiments, the first sliding element 103 is a slider. It works in conjunction with the first track element 102 (guide rail) to carry the first support element 104 and slide along the first track element 102 (guide rail).

[0111] The first load-bearing element 104 and the first sliding element 103 can be detached and connected, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first load-bearing element 104 with different specifications according to different needs.

[0112] In some of these embodiments, the first load-bearing element 104 is made of aluminum alloy or high-strength alloy steel.

[0113] In some of these embodiments, the first carrier element 104 includes, but is not limited to, a carrier plate.

[0114] Furthermore, the motion unit 100 also includes a first sensing element 105 and a second sensing element 106. The first sensing element 105 is disposed at the first end of the first track element 102 and is used to sense the position of the first sliding element 103; the second sensing element 106 is disposed at the second end of the first track element 102 and is used to sense the position of the first sliding element 103.

[0115] The first sensing element 105 is detachably connected to the first track element 102, including but not limited to bolt connections. The purpose of this design is to facilitate the adjustment of the position of the first sensing element 105 according to different needs, thereby adjusting the range of motion of the first sliding element 103.

[0116] In some of these embodiments, the first sensing element 105 is a sensor, including but not limited to an encoder, a grating ruler, etc.

[0117] The second sensing element 106 can be detachably connected to the first track element 102, including but not limited to bolt connections. The purpose of this design is to facilitate the adjustment of the position of the second sensing element 106 according to different needs, thereby adjusting the range of motion of the first sliding element 103.

[0118] The distance between the second sensing element 106 and the first sensing element 105 can be adjusted according to actual needs.

[0119] In some of these embodiments, the second sensing element 106 is a sensor, including but not limited to an encoder, a grating ruler, etc.

[0120] like Figure 4As shown, the positioning unit 200 includes a base element 201, a second bearing element 202, a second driving element 203, a second track element 204, a second sliding element 205, a third sliding element 206, a first limiting element 207, and a second limiting element 208. The base element 201 is disposed on the motion unit 100 and is used to reciprocate along a preset direction under the action of the motion unit 100; the second bearing element 202 is disposed at the top of the base element 201 and is used to support the lidar to be adjusted; the second driving element 203 is disposed at the top of the base element 201 and is located on the side of the second bearing element 202; the second track element 204 is disposed at the top of the base element 201 and is connected to the second driving element 203; the second sliding element 205 is slidably connected to the second track element 204 and is used to reciprocate along a preset direction under the action of the second driving element 203; the third sliding element 206, the second sliding element 207, and the second limiting element 208. The moving element 206 is slidably connected to the second track element 204 and is used to reciprocate along a preset direction under the action of the second driving element 203, wherein the movement direction of the third sliding element 206 is opposite to the movement direction of the second sliding element 205; the first limiting element 207 is connected to the second sliding element 205 and is used to move along a first direction under the action of the second sliding element 205 to abut against one side of the lidar; the second limiting element 208 is connected to the third sliding element 206 and is used to move along a second direction under the action of the third sliding element 206 to abut against the other side of the lidar, wherein the second direction is opposite to the first direction.

[0121] Specifically, the base element 201 is disposed on the first bearing element 104 and is used to reciprocate along a preset direction under the action of the first bearing element 104.

[0122] The base element 201 is detachably connected to the first support element 104, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of base elements 201 of different specifications according to different needs.

[0123] In some of these embodiments, the base element 201 is made of aluminum alloy.

[0124] In some of these embodiments, the base element 201 is a mounting base.

[0125] The second load-bearing element 202 can be detachably connected to the base element 201, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the second load-bearing element 202 with different specifications according to different needs.

[0126] In some of these embodiments, the second load-bearing element 202 is made of aluminum alloy or high-strength alloy steel.

[0127] In some of these embodiments, the second support element 202 includes, but is not limited to, a support plate or a support base.

[0128] The second drive element 203 is detachably connected to the base element 201, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the second load-bearing element 202 with different specifications according to different needs.

[0129] In this invention, the second driving element 203 is an electric drive mechanism or a pneumatic drive mechanism.

[0130] The following description uses the second driving element 203 as an example of an electric drive mechanism. The second driving element 203 includes at least a drive motor and a double-threaded screw. The drive motor is located at the top of the base element 201 and on the side of the second track element 204. The double-threaded screw is connected to the drive motor and rotatably connected to the second track element 204. The double-threaded screw is connected to the second sliding element 205 and the third sliding element 206 respectively. When the drive motor rotates forward, it drives the double-threaded screw to rotate, causing the second sliding element 205 and the third sliding element 206 to move towards each other. When the drive motor rotates in reverse, it drives the double-threaded screw to rotate, causing the second sliding element 205 and the third sliding element 206 to move away from each other.

[0131] The following description uses the second driving element 203 as an example of a pneumatic drive mechanism. The second driving element 203 includes at least two gas connectors. The first ends of the two gas connectors are respectively connected to the interior of the second track element 204, and the second ends of the two gas connectors are respectively connected to a gas supply device. In one embodiment, one gas connector corresponds to the second sliding element 205, and the other gas connector corresponds to the third sliding element 206. The two gas connectors operate simultaneously to drive the second sliding element 205 and the third sliding element 206 to move, respectively.

[0132] In some of these embodiments, the second sliding element 205 is made of aluminum alloy or high-strength alloy steel.

[0133] In some embodiments, the second sliding element 205 includes, but is not limited to, a slider. It works in conjunction with the second track element 204 (guide rail) to carry the first limiting element 207 and slide along the second track element 204 (guide rail).

[0134] In some of these embodiments, the third sliding element 206 is made of aluminum alloy or high-strength alloy steel.

[0135] In some embodiments, the third sliding element 206 includes, but is not limited to, a slider. It works in conjunction with the second track element 204 (guide rail) to carry the second limiting element 208 and slide along the second track element 204 (guide rail).

[0136] The first limiting element 207 and the second sliding element 205 can be detached and connected, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first limiting element 207 with different specifications according to different needs.

[0137] In some of these embodiments, the first limiting element 207 is made of aluminum alloy or high-strength alloy steel.

[0138] In some of these embodiments, the first limiting element 207 includes, but is not limited to, a limiting baffle.

[0139] The second limiting element 208 and the third sliding element 206 can be detachably connected, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the second limiting element 208 with different specifications according to different needs.

[0140] In some of these embodiments, the second limiting element 208 is made of aluminum alloy or high-strength alloy steel.

[0141] In some of these embodiments, the second limiting element 208 includes, but is not limited to, a limiting baffle.

[0142] Furthermore, the positioning unit 200 also includes a third track element 209, a fourth sliding element 210, and a fifth sliding element 211. The third track element 209 is disposed at the top of the base element 201 and located on the side of the second drive element 203; the fourth sliding element 210 is slidably connected to the third track element 209 and connected to the first limiting element 207 to improve the sliding stability of the first limiting element 207; the fifth sliding element 211 is slidably connected to the third track element 209 and connected to the second limiting element 208 to improve the sliding stability of the second limiting element 208.

[0143] The third track element 209 is detachably connected to the base element 201, including but not limited to bolt connections. The purpose of this design is to facilitate adjustment of the position of the third track element 209 according to different needs.

[0144] The dimensions of the third track element 209 are matched with the dimensions of the second drive element 203. Generally, the length of the third track element 209 is not greater than the length of the second drive element 203.

[0145] The distance between the third track element 209 and the second drive element 203 can be adjusted according to actual needs.

[0146] In some of these embodiments, the third track element 209 is made of aluminum alloy.

[0147] In some embodiments, the third track element 209 is a guide rail. As a support structure, it provides a smooth motion track, ensuring that the fourth sliding element 210 and the fifth sliding element 211 can move precisely in a straight line along a predetermined path.

[0148] The fourth sliding element 210 is detachably connected to the first limiting element 207, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the fourth sliding element 210 with different specifications according to different needs.

[0149] In some of these embodiments, the fourth sliding element 210 is made of high-strength alloy steel.

[0150] In some embodiments, the fourth sliding element 210 is a slider. It works in conjunction with the third track element 209 (guide rail) to carry the first limiting element 207 and slide along the third track element 209 (guide rail).

[0151] The fifth sliding element 211 is detachably connected to the second limiting element 208, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the fifth sliding element 211 with different specifications according to different needs.

[0152] In some of these embodiments, the fifth sliding element 211 is made of high-strength alloy steel.

[0153] In some embodiments, the fifth sliding element 211 is a slider. It works in conjunction with the third track element 209 (guide rail) to carry the second limiting element 208 and slide along the third track element 209 (guide rail).

[0154] like Figure 5 As shown, the adjustment unit 300 includes a multi-axis robot element 301, a first mounting element 302, an adjustment element 303, and a first image acquisition element 304. The multi-axis robot element 301 is disposed on a horizontal plane and located on the side of the motion unit 100; the first mounting element 302 is disposed at the end of the multi-axis robot element 301; the adjustment element 303 is disposed on one side of the first mounting element 302 and is used to adjust the emission angle of the laser radar; the first image acquisition element 304 is disposed on the other side of the first mounting element 302 and is used to acquire images from the laser radar for position adjustment of the multi-axis robot element 301 and emission angle adjustment of the adjustment element 303.

[0155] Specifically, the multi-axis robot element 301 is located on the side of the first track element 102.

[0156] In some of these embodiments, the multi-axis robot element 301 is a multi-axis force-controlled adaptive robot, including but not limited to a seven-axis force-controlled adaptive robot.

[0157] The first mounting element 302 is detachably connected to the multi-axis robot element 301, including but not limited to plug-in connections and bolt connections. The purpose of this design is to facilitate the replacement of different specifications of the first mounting element 302 according to different needs, to adapt to different usage spaces.

[0158] In some of these embodiments, the first mounting element 302 is made of aluminum alloy or high-strength alloy steel.

[0159] In some of these embodiments, the first mounting element 302 includes, but is not limited to, mounting posts, mounting brackets, etc.

[0160] The adjusting element 303 is detachably connected to the first mounting element 302, including but not limited to plug-in connections and bolt connections. The purpose of this design is to facilitate the replacement of adjusting elements 303 of different specifications according to different needs, so as to adapt to different usage spaces.

[0161] In some embodiments, the adjustment element 303 includes, but is not limited to, an electrically adjustable mechanism, such as an electric screwdriver.

[0162] The first image acquisition element 304 is detachably connected to the first mounting element 302, including but not limited to plug-in connections and bolt connections. The purpose of this design is to facilitate the replacement of the first image acquisition element 304 with different specifications according to different needs.

[0163] In some of these embodiments, the first image acquisition element 304 includes, but is not limited to, a camera.

[0164] like Figure 6 As shown, the reflection unit 400 includes a second mounting element 401 and a reflection element 402. The second mounting element 401 is disposed at the top of the motion unit 100; the reflection element 402 is disposed at the bottom of the second mounting element 401 and is used to reflect the laser emitted by the lidar.

[0165] Specifically, the second mounting element 401 is disposed at the top of the first track element 102.

[0166] In this invention, the second mounting element 401 is connected to any support device (including but not limited to the top plate of the box, the box support frame, etc.) located above the first track element 102.

[0167] In some of these embodiments, the second mounting element 401 is made of aluminum alloy or high-strength alloy steel.

[0168] In some of these embodiments, the second mounting element 401 includes, but is not limited to, a mounting base, a mounting bracket, a mounting plate, etc.

[0169] The reflective element 402 is detachably connected to the second mounting element 401, including but not limited to bolt connections. This design allows for easy replacement of reflective elements 402 with different specifications to meet varying needs.

[0170] In some of these embodiments, the reflective element 402 includes, but is not limited to, a reflector.

[0171] Furthermore, the reflective unit 400 also includes two support elements 403, a first rotating element 404, a second rotating element 405, a first locking element 406, a third rotating element 407, at least one fourth rotating element 408, at least one second locking element 409, a first fixing element 410, a second fixing element 411, and at least one connecting element 412. The two support elements 403 are symmetrically arranged at the top of the second mounting element 401; the first rotating element 404 is disposed between the two support elements 403, with both ends connected to the two support elements 403 respectively, for driving the second mounting element 401 to rotate in a first rotation direction via the two support elements 403; the second rotating element 405 is rotatably connected to the first rotating element 404; the first locking element 406 is locked to the second rotating element 405 to prevent relative rotation between the first rotating element 404 and the second rotating element 405; the third rotating element 407 is locked to the second rotating element 405; and the second rotating element 405 is locked to the first rotating element 406. A 405 connection is used to drive the second rotating element 405 to rotate in a second rotation direction, wherein the second rotation direction is different from the first rotation direction; a fourth rotating element 408 is rotatably connected to the third rotating element 407; a second locking element 409 is locked to the corresponding fourth rotating element 408 to lock the fourth rotating element 408 to prevent relative rotation between the third rotating element 407 and the fourth rotating element 408; a first fixing element 410 is connected to the fourth rotating element 408; a second fixing element 411 is disposed at the top of the motion unit 100; and a connecting element 412 is connected to the first fixing element 410 and the second fixing element 411 respectively.

[0172] The bracket element 403 is detachably connected to the second mounting element 401, including but not limited to bolt connections. This design facilitates the replacement of bracket elements 403 of different specifications and the adjustment of the positions of the two bracket elements 403 according to different needs.

[0173] In some of these embodiments, the support element 403 is made of aluminum alloy or high-strength alloy steel.

[0174] In some of these embodiments, the support element 403 includes, but is not limited to, mounting brackets, etc.

[0175] The first rotating element 404 is detachably connected to the support element 403, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first rotating element 404 with different specifications according to different needs.

[0176] In some of these embodiments, the first rotating element 404 is made of aluminum alloy or high-strength alloy steel.

[0177] In some of these embodiments, the first rotating element 404 includes, but is not limited to, a rotating shaft.

[0178] The second rotating element 405 is movably connected to the first rotating element 404. Specifically, during installation, the second rotating element 405 is sleeved onto the first rotating element 404 from one end, and then the second rotating element 405 moves (i.e. slides) along the axial direction of the first rotating element 404; during adjustment, the second rotating element 405 and the first rotating element 404 rotate relative to each other (either the second rotating element 405 or the first rotating element 404 can remain stationary).

[0179] In some of these embodiments, the second rotating element 405 is made of aluminum alloy or high-strength alloy steel.

[0180] In some embodiments, the second rotating element 405 includes a first rotating base, a first rotating groove, a first through groove, at least one first locking groove, and at least one second locking groove. The first rotating base is fitted with the first rotating element 404; the first rotating groove extends through both ends of the first rotating base and is rotatably connected to the first rotating element 404; the first through groove extends through the bottom end of the first rotating base and communicates with the first rotating groove; at least one first locking groove extends through the front end of the first rotating base, communicates with the first through groove, and is locked to the first locking element 406; at least one second locking groove extends through the rear end of the first rotating base, communicates with the first through groove, is opposite to the corresponding first locking groove, and is locked to the first locking element 406.

[0181] Specifically, when it is necessary for the first rotating element 404 and the second rotating element 405 to rotate relative to each other, the first locking element 406 is operated to gradually widen the first through slot (i.e., to release the relative locking between the first rotating element 404 and the second rotating element 405), thereby allowing the first rotating element 404 and the second rotating element 405 to rotate relative to each other; when it is not necessary for the first rotating element 404 and the second rotating element 405 to rotate relative to each other, the first locking element 406 is operated to gradually narrow the first through slot (i.e., to lock the first rotating element 404 and the second rotating element 405 relative to each other), thereby preventing the first rotating element 404 and the second rotating element 405 from rotating relative to each other.

[0182] In some embodiments, there are multiple first locking slots. These multiple first locking slots are spaced apart along the length and / or height direction of the first rotating base.

[0183] In some embodiments, there are multiple second locking slots. These multiple second locking slots are spaced apart along the length and / or height of the first rotating base.

[0184] The number of second locking slots matches the number of first locking slots. Generally, the number of second locking slots is equal to the number of first locking slots.

[0185] In some embodiments, there are multiple first locking elements 406. The multiple first locking elements 406 are spaced apart along the length and / or height direction of the second rotating element 405 (first rotating base).

[0186] The number of first locking elements 406 matches the number of first locking slots (second locking slots). Generally, the number of first locking elements 406 is equal to the number of first locking slots (second locking slots).

[0187] In some embodiments, the first locking element 406 includes a first locking bolt and a first locking nut. The first locking bolt passes through a first locking groove and a second locking groove in sequence, with the first end of the first locking bolt located outside the first locking groove and the second end of the first locking bolt located outside the second locking groove. The first locking nut is threadedly connected to the second end of the first locking bolt and is used to abut against the first rotating base, and the width of the first through groove can be changed by adjusting its position.

[0188] The third rotating element 407 is detachably connected to the second rotating element 405, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the third rotating element 407 with different specifications according to different needs.

[0189] In some of these embodiments, the third rotating element 407 is made of aluminum alloy or high-strength alloy steel.

[0190] In some of these embodiments, the third rotating element 407 includes, but is not limited to, a rotating shaft.

[0191] The fourth rotating element 408 is movably connected to the third rotating element 407. Specifically, during installation, the fourth rotating element 408 is fitted onto one end of the third rotating element 407, and then the fourth rotating element 408 moves (i.e., slides) along the axial direction of the third rotating element 407; during adjustment, the fourth rotating element 408 and the third rotating element 407 rotate relative to each other (either the fourth rotating element 408 or the third rotating element 407 can remain stationary).

[0192] In some embodiments, there are multiple fourth rotating elements 408. These multiple fourth rotating elements 408 are spaced apart along the axial direction of the third rotating element 407.

[0193] In some of these embodiments, the fourth rotating element 408 is made of aluminum alloy or high-strength alloy steel.

[0194] In some embodiments, the fourth rotating element 408 includes a second rotating base, a second rotating groove, a second through groove, at least one third locking groove, and at least one fourth locking groove. The second rotating base is fitted with the third rotating element 407; the second rotating groove extends through both ends of the second rotating base and is rotatably connected to the third rotating element 407; the second through groove extends through the bottom end of the second rotating base and communicates with the second rotating groove; at least one third locking groove extends through the front end of the second rotating base, communicates with the second through groove, and is locked to the second locking element 409; at least one fourth locking groove extends through the rear end of the second rotating base, communicates with the second through groove, is opposite to the corresponding third locking groove, and is locked to the second locking element 409.

[0195] Specifically, when it is necessary for the third rotating element 407 and the fourth rotating element 408 to rotate relative to each other, the second locking element 409 is operated to gradually widen the second through slot (i.e., to release the relative locking between the third rotating element 407 and the fourth rotating element 408), thereby allowing the third rotating element 407 and the fourth rotating element 408 to rotate relative to each other; when it is not necessary for the third rotating element 407 and the fourth rotating element 408 to rotate relative to each other, the second locking element 409 is operated to gradually narrow the second through slot (i.e., to lock the relative locking between the third rotating element 407 and the fourth rotating element 408), thereby preventing the third rotating element 407 and the fourth rotating element 408 from rotating relative to each other.

[0196] In some embodiments, there are multiple third locking slots. These multiple third locking slots are spaced apart along the length and / or height of the second rotating base.

[0197] In some embodiments, there are multiple fourth locking slots. These multiple fourth locking slots are spaced apart along the length and / or height of the second rotating base.

[0198] The number of fourth locking slots matches the number of third locking slots. Generally, the number of fourth locking slots is equal to the number of third locking slots.

[0199] In some embodiments, there are multiple second locking elements 409. The multiple second locking elements 409 are spaced apart along the length and / or height direction of the fourth rotating element 408 (second rotating base).

[0200] The number of second locking elements 409 matches the number of third locking slots (fourth locking slots). Generally, the number of second locking elements 409 is equal to the number of third locking slots (fourth locking slots) multiplied by the number of fourth rotating elements 408.

[0201] In some embodiments, the second locking element 409 includes a second locking bolt and a second locking nut. The second locking bolt passes through a third locking groove and a fourth locking groove in sequence, with the first end of the second locking bolt located outside the third locking groove and the second end of the second locking bolt located outside the fourth locking groove. The second locking nut is threadedly connected to the second end of the second locking bolt and is used to abut against the second rotating base, and the width of the second through groove can be changed by adjusting its position.

[0202] In this invention, the first fixing element 410 is inclined.

[0203] The first fixed element 410 and the fourth rotating element 408 are detachably connected, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the fourth rotating element 408 with different specifications and the adjustment of the position of the fourth rotating element 408 according to different needs.

[0204] In some of these embodiments, the first fixing element 410 is made of aluminum alloy or high-strength alloy steel.

[0205] In some of these embodiments, the first fixing element 410 includes, but is not limited to, a fixing plate.

[0206] In this invention, the second fixing element 411 is connected to any supporting device (including but not limited to the top plate of the box, the box support frame, etc.) located above the first track element 102.

[0207] In this invention, the second fixing element 411 is arranged parallel to the horizontal plane.

[0208] In some of these embodiments, the second fixing element 411 is made of aluminum alloy or high-strength alloy steel.

[0209] In some of these embodiments, the second fixing element 411 includes, but is not limited to, a fixing plate.

[0210] The connecting element 412 is detachably connected to the first fixing element 410 and the second fixing element 411, respectively, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the first fixing element 410 and the second fixing element 411 with different specifications according to different needs, as well as to adjust the relative positions of the first fixing element 410 and the second fixing element 411.

[0211] In some embodiments, the connecting element 412 may be connected to the upper surface of the first fixing element 410 and the upper surface of the second fixing element 411, respectively, or it may be connected to the lower surface of the first fixing element 410 and the lower surface of the second fixing element 411, respectively.

[0212] In some embodiments, there are multiple connecting elements 412. The multiple connecting elements 412 are spaced apart along the width direction of the first fixing element 410 (second fixing element 411).

[0213] In some embodiments, at least one connecting element 412 is connected to the upper surface of the first fixing element 410 and the upper surface of the second fixing element 411, respectively, and at least one connecting element 412 is connected to the lower surface of the first fixing element 410 and the lower surface of the second fixing element 411, respectively.

[0214] In some embodiments, the connecting element 412 includes, but is not limited to, a connecting plate, a reinforcing plate, a reinforcing rib, etc.

[0215] like Figure 7 As shown, the image acquisition unit 600 includes a third mounting element 601 and a second image acquisition element 602. The third mounting element 601 is disposed at the top of the motion unit 100 and located on the side of the reflection unit 400; the second image acquisition element 602 is disposed on the third mounting element 601 and is used to acquire a laser image located in the presentation unit 500 so that the adjustment unit 300 adjusts the emission angle of the lidar according to the laser image.

[0216] Specifically, the third mounting element 601 is disposed at the top of the first track element 102.

[0217] In this invention, the third mounting element 601 is connected to any support device (including but not limited to the top plate of the box, the box support frame, etc.) located above the first track element 102.

[0218] In some of these embodiments, the third mounting element 601 is made of aluminum alloy or high-strength alloy steel.

[0219] In some of these embodiments, the third mounting element 601 includes, but is not limited to, a mounting base, a mounting bracket, etc.

[0220] The second image acquisition element 602 is detachably connected to the third mounting element 601, including but not limited to bolt connections. The purpose of this design is to facilitate the replacement of the second image acquisition element 602 with different specifications according to different usage requirements.

[0221] In some of these embodiments, the second image acquisition element 602 includes, but is not limited to, a camera.

[0222] Furthermore, the lidar adjustment device also includes a base unit 700 and a support unit 800. The base unit 700 is disposed on a horizontal plane, and a motion unit 100 and an adjustment unit 300 are disposed at the top of the base unit 700 and connected to the motion unit 100 and the adjustment unit 300, respectively. The support unit 800 is disposed at the top of the base unit 700 and connected to the base unit 700, the reflection unit 400, and the image acquisition unit 600, respectively.

[0223] Specifically, the base unit 700 is connected to the first track element 102 and the multi-axis robot element 301 respectively; the support unit 800 is connected to the second mounting element 401 and the third mounting element 601 respectively.

[0224] More specifically, the support unit 800 is connected to the second fixing element 411.

[0225] The base unit 700 is detachably connected to the first track element 102 and the multi-axis robot element 301, including but not limited to bolt connections. The purpose of this design is to allow the positional relationship between the first track element 102 and the multi-axis robot element 301 to be set according to different usage requirements and available space.

[0226] In some of these embodiments, the base unit 700 is made of aluminum alloy or high-strength alloy steel.

[0227] In some of these embodiments, the base unit 700 includes, but is not limited to, a mounting base, a worktable, etc.

[0228] The support unit 800 is detachably connected to the second mounting element 401 and the third mounting element 601 (or the second fixing element 411), including but not limited to bolt connections. The purpose of this design is to allow the positional relationship of the second mounting element 401 and the third mounting element 601 (or the second fixing element 411) to be set according to different usage requirements and available space.

[0229] In some of these embodiments, the support unit 800 is made of aluminum alloy or high-strength alloy steel.

[0230] In some of these embodiments, the support unit 800 includes, but is not limited to, a support frame, a mounting frame, etc.

[0231] The method of using this utility model is as follows:

[0232] The staff placed the lidar to be adjusted onto the second support element 202;

[0233] The second driving element 203 operates, and through the second sliding element 205 and the third sliding element 206, it drives the first limiting element 207 and the second limiting element 208 to move along the second track element 204 to clamp the laser radar to be adjusted and prevent the laser radar to be adjusted from falling off the second supporting element 202.

[0234] The first driving element 101 operates, driving the positioning unit 200 to move along the first track element 102 via the first sliding element 103 and the first bearing element 104, so as to move the positioning unit 200 to the adjustment position;

[0235] The internal transmitter and receiver of the lidar to be adjusted each emit 32 light spots (64 light spots in total), which are reflected to the presentation unit 500 by the reflective element 402;

[0236] The second image acquisition element 602 acquires the laser image (i.e., light spot information) located in the presentation unit 500. The multi-axis robot element 301 adjusts the laser radar adjustment screw through the adjustment element 303 according to the laser radar adjustment screw image acquired by the first image acquisition element 304 and the photoelectric information fed back by the second image acquisition element 602, until 64 light spots are recombined into 32 light spots.

[0237] After adjustment, the first driving element 101 operates, driving the positioning unit 200 to move along the first track element 102 via the first sliding element 103 and the first bearing element 104, so as to move the positioning unit 200 to the unloading station.

[0238] The second driving element 203 operates, and through the second sliding element 205 and the third sliding element 206, it drives the first limiting element 207 and the second limiting element 208 to move along the second track element 204, so as to release the fixation of the adjusted lidar and allow the staff to remove the lidar.

[0239] Repeat the above steps until all lidar units have completed the adjustment process.

[0240] The technical effects of this utility model are as follows:

[0241] 1) Utilizing adjustment units to replace manual adjustment ensures the cleanliness of the adjustment environment and the strength of product adjustment, thereby improving product yield;

[0242] 2) Using an image acquisition unit to replace manual acquisition of light spot information prevents eye damage and misjudgment of product adjustment caused by prolonged use, improves acquisition efficiency, and reduces the misjudgment rate;

[0243] 3) By using the adjustment unit in conjunction with the image acquisition unit, the adjustment time can be shortened, the adjustment efficiency can be improved, and the production cost can be reduced.

[0244] Example 2

[0245] This embodiment relates to the lidar adjustment system of this utility model.

[0246] An illustrative embodiment of this utility model, such as Figure 8 As shown, a lidar adjustment system includes a lidar adjustment device A and a control device B as described in Embodiment 1. The control device B is connected to the motion unit 100, positioning unit 200, adjustment unit 300, and image acquisition unit 600 of the lidar adjustment device A.

[0247] Specifically, the control device B is connected to the first drive element 101, the second drive element 203, the multi-axis robot element 301, the adjustment element 303, the first image acquisition element 304, and the second image acquisition element 602, respectively.

[0248] In some of these embodiments, the control device B includes, but is not limited to, a central control unit, a PLC, etc.

[0249] The usage method of this embodiment is basically the same as that of Embodiment 1, and will not be repeated here.

[0250] The technical effects of this embodiment are basically the same as those of Embodiment 1, and will not be repeated here.

[0251] The above description is only a preferred embodiment of the present utility model and does not limit the implementation method and protection scope of the present utility model. Those skilled in the art should realize that all solutions obtained by equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A lidar adjustment device for adjusting the emission angle of a lidar, characterized in that, include: A motion unit, wherein the motion unit is disposed on a horizontal plane; A positioning unit, which is set on a horizontal plane, is used to support the lidar to be adjusted and to reciprocate along a preset direction under the action of the motion unit; An adjustment unit is disposed on the side of the motion unit and is used to adjust the emission angle of the lidar; A reflecting unit, which is disposed at the top of the motion unit, is used to reflect the laser emitted by the lidar; A presentation unit is disposed on the side of the reflection unit and is used to present the laser image reflected by the reflection unit; An image acquisition unit is disposed between the reflection unit and the presentation unit, and is used to acquire a laser image located on the presentation unit so that the adjustment unit adjusts the emission angle of the lidar according to the laser image.

2. The lidar adjustment device according to claim 1, characterized in that, The motion unit includes: A first driving element, wherein the first driving element is disposed on a horizontal plane; A first track element, wherein the first track element is disposed on a horizontal plane; The first sliding element is slidably connected to the first track element and connected to the first driving element, and is used to reciprocate along the first track element under the action of the first driving element; A first bearing element is connected to the first sliding element and the positioning unit respectively, and is used to drive the positioning unit to reciprocate along a preset direction under the action of the first sliding element.

3. The lidar adjustment device according to claim 2, characterized in that, The motion unit further includes: A first sensing element is disposed at a first end of the first track element and is used to sense the position of the first sliding element; The second sensing element is disposed at the second end of the first track element and is used to sense the position of the first sliding element.

4. The lidar adjustment device according to claim 1, characterized in that, The positioning unit includes: A base element is disposed on the motion unit and is used to reciprocate along a preset direction under the action of the motion unit; The second support element is disposed at the top of the base element and is used to support the lidar to be adjusted; The second driving element is disposed at the top of the base element and located on the side of the second bearing element; The second track element is disposed at the top of the base element and connected to the second drive element; The second sliding element is slidably connected to the second track element and is used to reciprocate along a preset direction under the action of the second driving element; A third sliding element is slidably connected to the second track element and is used to reciprocate along a preset direction under the action of the second driving element, wherein the movement direction of the third sliding element is opposite to the movement direction of the second sliding element; A first limiting element is connected to a second sliding element and is used to move along a first direction under the action of the second sliding element to abut against one side of the lidar. The second limiting element is connected to the third sliding element and is used to move along a second direction under the action of the third sliding element to abut against the other side of the lidar, wherein the second direction is opposite to the first direction.

5. The lidar adjustment device according to claim 4, characterized in that, The positioning unit further includes: The third track element is disposed at the top of the base element and located on the side of the second drive element; A fourth sliding element is slidably connected to the third track element and connected to the first limiting element to improve the sliding stability of the first limiting element. The fifth sliding element is slidably connected to the third track element and connected to the second limiting element to improve the sliding stability of the second limiting element.

6. The lidar adjustment device according to claim 1, characterized in that, The reflective unit includes: A second mounting element is disposed at the top of the motion unit; A reflective element is disposed at the bottom end of the second mounting element for reflecting the laser emitted by the lidar.

7. The lidar adjustment device according to claim 6, characterized in that, The reflective unit further includes: Two support elements are symmetrically arranged at the top of the second mounting element; A first rotating element is disposed between the two bracket elements, and its two ends are respectively connected to the two bracket elements, for driving the second mounting element to rotate along the first rotation direction through the two bracket elements; A second rotating element is rotatably connected to the first rotating element; A first locking element is locked to the second rotating element to lock the second rotating element and prevent relative rotation between the first rotating element and the second rotating element. A third rotating element is connected to the second rotating element and is used to drive the second rotating element to rotate along a second rotating direction, wherein the second rotating direction is different from the first rotating direction; At least one fourth rotating element, the fourth rotating element being rotatably connected to the third rotating element; At least one second locking element is provided, which is locked to the corresponding fourth rotating element to lock the fourth rotating element and prevent the third rotating element from rotating relative to the fourth rotating element. A first fixing element is connected to the fourth rotating element; The second fixing element is disposed at the top of the motion unit; At least one connecting element is provided, which is connected to the first fixing element and the second fixing element respectively.

8. The lidar adjustment device according to claim 1, characterized in that, The adjustment unit includes: A multi-axis robot element, wherein the multi-axis robot element is disposed on a horizontal plane and located on the side of the motion unit; A first mounting element is disposed at the end of the multi-axis robot element; An adjustment element is disposed on one side of the first mounting element and is used to adjust the emission angle of the lidar; A first image acquisition element, disposed on the other side of the first mounting element, is used to acquire images from the lidar for position adjustment by the multi-axis robot element, and for emission angle adjustment by the adjustment element; and / or The image acquisition unit includes: A third mounting element is disposed at the top of the motion unit and located on the side of the reflection unit; A second image acquisition element, disposed on the third mounting element, is used to acquire a laser image located on the presentation unit so that the adjustment unit adjusts the emission angle of the lidar according to the laser image.

9. The lidar adjustment device according to any one of claims 1 to 8, characterized in that, Also includes: A base unit is disposed on a horizontal plane, and the top of the base unit is provided with the motion unit and the adjustment unit, and is respectively connected to the motion unit and the adjustment unit; A support unit is disposed at the top of the base unit and is connected to the base unit, the reflection unit, and the image acquisition unit respectively.

10. A lidar adjustment system, characterized in that, include: The lidar adjustment device as described in any one of claims 1 to 9; A control device is provided, which is connected to the motion unit, the positioning unit, the adjustment unit, and the image acquisition unit of the lidar adjustment device.

Images