Installation and Debugging Device for LiDAR

Abstract

This application relates to the technical field of wind turbine units, and particularly to an installation and debugging device for a lidar. The installation and debugging device for the lidar provided in this application includes a connection mechanism, a first support component, and a measurement component. The measurement component is disposed on the first support component. The measurement component includes an inclination measurement piece and a laser piece. The laser piece is used to calibrate the target position of the adjustment strut, and the inclination measurement piece is used to obtain the attitude information of the lidar body. Among them, the first support component includes a first support part and a second support part. The first support part can drive the second support part and the measurement component to rotate relative to the connection mechanism around the first axis to adjust the roll angle of the measurement component. The measurement component can rotate relative to the first support part around the second axis to adjust the pitch angle of the measurement component. The extension directions of the first axis and the second axis are intersectingly arranged. Thus, the debugging accuracy can be improved and the debugging duration can be saved, so as to meet the installation requirements of the lidar.

Description

Technical Field

[0001] This application relates to the field of wind turbine technology, and in particular to an installation and commissioning device for lidar. Background Technology

[0002] LiDAR (LiDAR) is a precision sensing device that detects the position, speed, and environmental characteristics of targets by emitting laser beams and receiving their reflected signals. In wind turbines, LiDAR monitors the incoming wind speed, direction, and turbulence information in front of the rotor in real time, providing support for load reduction control, response to severe wind conditions, and precise wind alignment, thereby improving the unit's operational stability and power generation efficiency.

[0003] Currently, the lidar for wind turbines is mainly installed outside the nacelle, and its pitch and roll angles need to be manually measured and adjusted to achieve lidar positioning.

[0004] However, the aforementioned methods for debugging lidar are time-consuming and have low accuracy, making it difficult to meet the installation requirements of lidar in complex maritime environments. Utility Model Content

[0005] This application provides an installation and debugging device for lidar, which solves the problems of long debugging time, low accuracy and difficulty in meeting the installation requirements of lidar in complex marine environments.

[0006] To achieve the above objectives, the technical solution of this application is as follows:

[0007] In a first aspect, this application provides an installation and debugging device for a lidar. The lidar includes a lidar body, multiple adjustment pillars, and a support platform connected between the lidar body and the adjustment pillars. The installation and debugging device includes: a connecting mechanism for clamping the support platform or the support base where the lidar is located; a first support assembly disposed on the connecting mechanism; and a measuring assembly disposed on the first support assembly. The measuring assembly includes a tilt measuring element and a laser element. The laser element is used to calibrate the target position of the adjustment pillars, and the tilt measuring element is used to acquire the attitude information of the lidar body. The first support assembly includes a first support portion and a second support portion. The first support portion is rotatably connected to the connecting mechanism, and the second support portion is connected to the first support portion. The measuring assembly is disposed on the second support portion. The first support portion can drive the second support portion and the measuring assembly to rotate relative to the connecting mechanism around a first axis to adjust the roll angle of the measuring assembly. The measuring assembly can rotate relative to the first support portion around a second axis to adjust the pitch angle of the measuring assembly. The extension directions of the first axis and the second axis intersect.

[0008] In one possible implementation, the installation and debugging device provided in this application further includes a first fastener and a second fastener in the first support component. The first fastener passes through the first support part and the connecting mechanism to lock the roll angle of the measuring component. The measuring component is rotatably connected to the second support part, and the second fastener passes through the second support part and the measuring component to lock the pitch angle of the measuring component.

[0009] In one possible implementation, the installation and debugging device provided in this application further includes a positioning element in the first support component, which passes through the first support and the measuring component.

[0010] In one possible implementation, the installation and debugging device provided in this application further includes a second support component. The second support component includes a support base, a control platform, and an angle adjustment component. The support base is used to support the lidar, and the control platform is communicatively connected to the measurement component. At least three angle adjustment components are provided, and the angle adjustment components are connected between the support base and the control platform. The control platform is used to drive the angle adjustment components to adjust their own length in order to adjust the pitch angle or roll angle of the lidar.

[0011] In one possible implementation, the installation and debugging device provided in this application includes a control platform comprising a drive control box, a first transmission interface, a power interface, and an indicator. The drive control box is connected to the measuring component via the first transmission interface. The drive control box controls the angle adjustment component to adjust its own length. The power interface is used to connect to an external power source. The indicator is connected to the drive control box and includes at least one of an indicator light and an acoustic prompting component.

[0012] In one possible implementation, the installation and debugging device provided in this application includes an angle adjustment component comprising a drive unit, a transmission connection unit, a linear transmission unit, and a multi-degree-of-freedom hinge unit. One end of the transmission connection unit is connected to the drive unit, and the other end is connected to the linear transmission unit. The end of the linear transmission unit away from the transmission connection unit is connected to the support base via the multi-degree-of-freedom hinge unit.

[0013] In one possible implementation, the installation and commissioning device provided in this application includes a linear transmission part comprising a transmission screw and a threaded sleeve fitted onto the transmission screw. The transmission screw is connected to the drive part through a transmission connection part, and the end of the threaded sleeve away from the transmission screw is connected to a multi-degree-of-freedom hinge part.

[0014] In one possible implementation, the installation and debugging device provided in this application includes a measuring component with an adjustment hole that is connected to the beam grid of the laser element for adjusting the beam parameters of the laser element; and / or, the measuring component further includes a display, a second transmission interface, a third transmission interface, and a control button. The display is used to display the angle information of the laser radar, the measuring component is connected to a second support component through the second transmission interface, and the control button is used to control the second support component.

[0015] In one possible implementation, the installation and debugging device provided in this application includes a connection mechanism comprising a pair of clamping components and a first driving component. A receiving area is formed between the pair of clamping components. The receiving area is used to clamp a support platform or a support base. The first driving component is connected to at least one clamping component and drives the pair of clamping components to move toward or away from each other to adjust the size of the receiving area.

[0016] In one possible implementation, the installation and debugging device provided in this application includes a first driving component comprising a first driving member and a second driving member. The first driving member is used to drive a pair of clamping components to move toward or away from each other along a first direction. The clamping components include a pair of clamping arms connected to the second driving member. The second driving member is used to drive the pair of clamping arms to move toward or away from each other along a second direction. The first direction and the second direction are intersecting.

[0017] In one possible implementation, the installation and debugging device provided in this application further includes a clamping assembly in the connecting mechanism. The clamping assembly includes a first clamp and a second clamp that is slidably connected to the first clamp. The first clamp and the second clamp are respectively connected to one of the clamping components, and the clamping component corresponding to the second clamp can slide relative to the first clamp following the second clamp.

[0018] In one possible implementation, the installation and debugging device provided in this application further includes a second drive component in the connection mechanism. The second drive component includes a drive motor and a first transmission member connected to the drive motor. The drive motor is slidably connected to the first clamp so that the first transmission member is in transmission engagement with one of the first drive member and the second drive member.

[0019] In one possible implementation, the installation and debugging device provided in this application has a first fixture with a positioning groove, the positioning groove having a movable pin hole, and a drive motor disposed in the positioning groove and capable of sliding relative to the first fixture along the movable pin hole.

[0020] In one possible implementation, the installation and debugging device provided in this application includes a first transmission component comprising a first transmission gear; a first driving component comprising a bearing, a second transmission gear, and a screw connected between the bearing and the second transmission gear, wherein the fixed end of the bearing is connected to a second clamp, the screw is rotatably connected to the first clamp, and the second transmission gear is used for meshing with the first transmission gear; the second driving component comprises a transmission rod, a third transmission gear connected to the transmission rod, and a pair of second transmission components, wherein both ends of the second transmission components are respectively connected to a pair of clamping arms, and the third transmission gear is used for meshing with the first transmission gear.

[0021] In one possible implementation, the installation and debugging device provided in this application includes a second transmission component comprising a transmission disc and a pair of connecting rods. The transmission disc is connected to the transmission rod, one end of the connecting rod is connected to the transmission disc, and the other end is provided with a transmission rack. The clamping arm is provided with transmission teeth at the end facing the connecting rod, and the transmission teeth mesh with the transmission rack.

[0022] In one possible implementation, the installation and commissioning device provided in this application further includes a connecting pin through which the clamping assembly and the clamping arm pass, so that the clamping arm can rotate axially about the connecting pin relative to the clamping assembly; and / or, an auxiliary tightening hole is provided at the end of the clamping arm away from the connecting pin for connecting a tightening member.

[0023] Secondly, this application provides an installation and debugging device for a lidar, comprising: a second support assembly, including a control platform and a plurality of angle adjustment members spaced apart, the length of the angle adjustment members being adjustable, one end of the angle adjustment member being connected to the control platform in its own length direction and the other end being used to support the lidar, the control platform being used to drive the angle adjustment members to adjust their own length, thereby adjusting the pitch angle and / or roll angle of the lidar; a connecting mechanism, connected to one of the second support assembly and the lidar; a first support assembly, disposed on the connecting mechanism; and a measuring assembly, disposed on the first support assembly and communicatively connected to the control platform, the measuring assembly being used to measure the attitude information of the lidar and transmit it to the control platform, the control platform being used to control the angle adjustment members to adjust the pitch angle and / or roll angle of the lidar.

[0024] In one possible implementation, the installation and debugging device provided in this application includes an angle adjustment component comprising a drive unit, a transmission connection unit, a linear transmission unit, and a multi-degree-of-freedom hinge unit. One end of the transmission connection unit is connected to the drive unit, and the other end is connected to the linear transmission unit. The end of the linear transmission unit away from the transmission connection unit is connected to the multi-degree-of-freedom hinge unit.

[0025] In one possible implementation, the installation and debugging device provided in this application includes a connection mechanism comprising a pair of clamping components and a first driving component. A receiving area is formed between the pair of clamping components. The receiving area is used to clamp one of a second support component and a lidar. The first driving component is connected to at least one clamping component and drives the pair of clamping components to move toward or away from each other to adjust the size of the receiving area.

[0026] The lidar installation and debugging device provided in this application includes a lidar body, multiple adjustment supports, and a support platform connecting the lidar body and the adjustment supports. The installation and debugging device includes a connecting mechanism, a first support assembly, and a measuring assembly. The connecting mechanism clamps the device to the support platform or the support base where the lidar is located to fix the installation and debugging device. The measuring assembly is connected to the connecting mechanism through the first support assembly. The measuring assembly includes a tilt measuring element and a laser element. When the installation and debugging device is installed on the support platform or the support base where the lidar is located, the laser element calibrates the relative position between the installation and debugging device and the adjustment supports, while the tilt measuring element acquires the attitude information of the lidar body. The operator can determine the required roll and pitch angles of the measuring component based on the attitude information, and adjust the roll and pitch angles of the measuring component through the first support part and the second support part of the first support component. The laser component emits a laser beam again to perform secondary calibration of the relative position between the installation and debugging device and the adjustment column. Then, the extension length of the adjustment column is adjusted to make the primary calibration point on the adjustment column coincide with the current secondary calibration point. After that, multiple adjustment columns are adjusted separately to adjust the roll and pitch angles of the lidar body. This improves the debugging accuracy and saves debugging time, thereby meeting the installation requirements of the lidar. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A schematic diagram showing the connection between the installation and debugging device for the lidar provided in this application embodiment and the lidar;

[0029] Figure 2 A schematic diagram of the installation and debugging device for a lidar provided in an embodiment of this application;

[0030] Figure 3 for Figure 2 Connection diagram of the connecting mechanism and measuring components Figure 1 ;

[0031] Figure 4 for Figure 3 Another perspective illustration;

[0032] Figure 5 for Figure 2 A schematic diagram of the structure of the second support component;

[0033] Figure 6 for Figure 2 Partial structural diagram of the connecting mechanism Figure 1 ;

[0034] Figure 7 for Figure 6 Another perspective illustration;

[0035] Figure 8 for Figure 2 Partial structural diagram of the connecting mechanism Figure 2 ;

[0036] Figure 9 for Figure 2 Schematic diagram of the structure of the measurement component;

[0037] Figure 10 for Figure 9 Another perspective illustration;

[0038] Figure 11 This is a schematic diagram of the structure of the first clamp provided in the embodiments of this application;

[0039] Figure 12 for Figure 11 Another perspective illustration;

[0040] Figure 13 This is a schematic diagram of the structure of the second clamp provided in the embodiments of this application;

[0041] Figure 14 for Figure 13 Another perspective illustration.

[0042] Explanation of reference numerals in the attached figures:

[0043] 10-LiDAR; 11-LiDAR body; 12-Adjustment support; 12a-First adjustment support; 12b-Second adjustment support; 12c-Third adjustment support; 13-Support platform;

[0044] 20-Install and debug the equipment;

[0045] 100 - Connecting mechanism; 110 - Clamping assembly; 111 - Clamping arm; 111a - Transmission gear; 111b - Auxiliary clamping hole; 121 - First driving member; 1211 - Bearing; 1212 - Second transmission gear; 1213 - Screw; 122 - Second driving member; 1221 - Transmission rod; 1222 - Third transmission gear; 1223 - Second transmission member; 1223a - Transmission disc; 1223b - Connecting rod; 1223c - Transmission rack; 130 - Clamping assembly; 131 - First Fixture; 1311-Positioning groove; 1312-Moving pin hole; 1313-Guide groove; 1314-First positioning hole; 1315-Second positioning hole; 132-Second fixture; 1321-Guide rail; 1322-Bearing mounting hole; 1323-Connecting through hole; 1324-Transmission rod mounting hole; 1325-Screw mounting hole; 133-Groove; 140-Second drive assembly; 141-Drive motor; 142-First transmission component; 142a-First transmission gear; 150-Connecting pin;

[0046] 200 - First support assembly; 210 - First support part; 220 - Second support part; 230 - First fastener; 240 - Second fastener; 250 - Positioning element;

[0047] 300 - Measuring component; 310 - Laser element; 320 - Adjustment hole; 330 - Display; 340 - Second transmission interface; 350 - Control button; 360 - Third transmission interface; 370 - Fixing hole;

[0048] 400 - Second support assembly; 410 - Support base; 420 - Control platform; 421 - Drive control box; 422 - First transmission interface; 423 - Power interface; 424 - Indicator; 430 - Angle adjustment component; 430a - First angle adjustment component; 430b - Second angle adjustment component; 430c - Third angle adjustment component; 431 - Drive unit; 432 - Transmission connection unit; 433 - Linear transmission unit; 433a - Transmission screw; 433b - Screw sleeve; 434 - Multi-degree-of-freedom hinge unit;

[0049] 500-Transmission Line;

[0050] X - First direction; Y - Second direction.

[0051] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the preferred embodiments of this application will be described in more detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0053] It should be noted that in the description of the embodiments of this application, the terms "upper", "lower", "inner", "outer" and other terms indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description, and do not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the embodiments of this application.

[0054] Furthermore, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0055] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "fixation," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0056] Currently, lidar for wind turbines is mainly installed outside the nacelle, requiring manual measurement and adjustment of its pitch and roll angles for positioning. However, this method of lidar commissioning is time-consuming and inaccurate, making it difficult to meet the installation requirements of lidar in complex marine environments.

[0057] In view of this, the lidar installation and debugging device provided in this application is clamped to the support platform or the support base where the lidar is located by a connecting mechanism. Then, through the cooperation of the first support component and the measuring component, the attitude of the lidar body is adjusted according to the target position calibrated by the measuring component. This can improve the debugging accuracy and save debugging time, thereby meeting the installation requirements of lidar.

[0058] The present application will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0059] Firstly, see [the following] Figure 1 and Figure 2 This application provides an installation and debugging device 20 for a lidar 10. The installation and debugging device 20 may include a connecting mechanism 100, a first support component 200, and a measuring component 300. See also... Figure 3 and Figure 4 The connecting mechanism 100 is used to clamp the support platform 13 or the support base 410 where the lidar 10 is located. The first support assembly 200 is disposed on the connecting mechanism 100. The measuring assembly 300 is disposed on the first support assembly 200. The measuring assembly 300 includes an angle measuring element and a laser element 310. The laser element 310 is used to calibrate the target position of the adjusting support column 12, and the angle measuring element is used to acquire the attitude information of the lidar body 11. The first support assembly 200 includes a first support part 210 and a second support part 220. The first support part 210 is rotatably connected to the connecting mechanism 100, the second support part 220 is connected to the first support part 210, and the measuring assembly 300 is disposed on the second support part 220. The first support part 210 can drive the second support part 220 and the measuring assembly 300 to rotate relative to the connecting mechanism 100 around a first axis to adjust the roll angle of the measuring assembly 300. The measuring component 300 can rotate relative to the first support 210 about the second axis to adjust the pitch angle of the measuring component 300. The extension directions of the first axis and the second axis are intersecting.

[0060] It should be noted that the lidar 10 may include a lidar body 11, multiple adjustment supports 12, and a support platform 13 connecting the lidar body 11 and the adjustment supports 12. The lidar body 11 can acquire incoming wind information in front of the wind turbine rotor, such as wind speed, wind direction, and turbulence, and then transmit this information to the wind turbine's control system to compensate for and control the turbine's pitch angle and rotational speed. This stabilizes the rotor speed, reduces the pitch motion of the turbine nacelle, lowers the load on the turbine, and improves the safety and stability of the wind turbine. Optionally, the number of adjusting supports 12 may include three, which may be a first adjusting support 12a, a second adjusting support 12b, and a third adjusting support 12c. For example, the connecting lines between the first adjusting support 12a and the second adjusting support 12b, the connecting lines between the first adjusting support 12a and the third adjusting support 12c, and the connecting lines between the second adjusting support 12b and the third adjusting support 12c form an equilateral triangle. The first adjusting support 12a is positioned closer to the impeller than the second adjusting support 12b and the third adjusting support 12c, so that the first adjusting support 12a controls the pitch angle of the lidar body 11, and the second adjusting support 12b and the third adjusting support 12c control the roll angle of the lidar body 11. By adjusting the extension and retraction length of each adjusting support 12, the pitch angle and roll angle of the lidar body 11 can be adjusted.

[0061] Optionally, the adjusting support 12 may include a bolt post and a locking nut located at one end of the bolt post. The extension length of the adjusting support 12 can be changed by adjusting the screw depth of the bolt post relative to the locking nut.

[0062] To connect the installation and debugging device 20 to the support platform 13 or the support base 410 where the lidar 10 is located, a connecting mechanism 100 can be provided. Optionally, the connecting mechanism 100 may include symmetrically distributed clamping structures, such as two parallel clamping plates and an adjusting bolt passing through the two clamping plates. Anti-slip rubber pads may be provided on the side of the clamping plates facing each other to increase friction and protect the surface of the clamped components. Thus, the distance between the two clamping plates can be adjusted by the adjusting bolt, thereby fixing the device to the support platform 13 or the support base 410 where the lidar 10 is located through the clamping force of the clamping plates, achieving a rigid connection. This configuration, through the detachable connection of the connecting mechanism 100 to the support platform 13 or the support base 410 where the lidar 10 is located, ensures that the relative position of the measuring component 300 and the lidar 10 is fixed, improving measurement accuracy and facilitating quick disassembly after debugging. It should also be noted that the purpose of setting the connecting mechanism 100 is to achieve a detachable connection with the support platform 13 or the support base 410 where the lidar 10 is located. The specific structure of the connecting mechanism 100 is not limited in this embodiment of the application.

[0063] To enable the connection between the measuring component 300 and the connecting mechanism 100, and to adjust the pitch and roll angles of the measuring component 300, a first support component 200 may be provided. The first support component 200 may include a first support portion 210 and a second support portion 220. The second support portion 220 may be fixedly connected to the first support portion 210 or rotatably connected to it. The first axis can be understood as being aligned with the front-rear direction of the lidar 10, and the second axis can be understood as being aligned with the left-right direction of the lidar 10.

[0064] Optionally, when the second support portion 220 is fixedly connected to the first support portion 210, the first support portion 210 can be rotatably connected to the connecting mechanism 100 around the first axis, and the measuring component 300 can be rotatably connected to the second support portion 220 around the second axis. The roll angle of the measuring component 300 can be adjusted by rotating the first support portion 210 around the first axis. The pitch angle of the measuring component 300 can be adjusted by rotating the measuring component 300 around the second axis.

[0065] When the second support portion 220 is rotatably connected to the first support portion 210, the first support portion 210 can be rotatably connected to the connecting mechanism 100 around the first axis, and the second support portion 220 can be rotatably connected to the first support portion 210 around the second axis. The measuring component 300 can be fixedly connected to the second support portion 220. The roll angle of the measuring component 300 can be adjusted by rotating the first support portion 210 around the first axis. The pitch angle of the measuring component 300 can be adjusted by rotating the second support portion 220 around the second axis.

[0066] Optionally, the first support 210 may be an L-shaped plate, one side of which is connected to the connecting mechanism 100 and the other side is connected to the second support 220. The second support 220 may include a pair of support plates that extend along the height direction and are symmetrically installed on the first support 210. The measuring component 300 is located within the receiving space formed by the pair of support plates and the first support 210 and is connected to the support plates.

[0067] It should be noted that the measuring component 300 may include an inclination measuring device and a laser device 310. Optionally, the inclination measuring device may include an inclinometer, capable of acquiring the three-dimensional attitude information of the lidar body 11 in real time, so that the operator can subsequently adjust the roll and pitch angles of the lidar body 11 based on the initial attitude information of the lidar body 11 obtained by the inclinometer. The laser device 310 may include a laser emitter, capable of emitting a visible laser line on the surface of the adjusting support 12 as a reference mark for position calibration.

[0068] After the measuring component 300 is fixed to the support platform 13 or support base 410 via the connecting mechanism 100, the laser component 310 performs a calibration on the adjusting support column 12. That is, it emits a laser beam to the adjusting support column 12 in the initial attitude, and the operator marks the initial position of the laser beam on the surface of the adjusting support column 12, which is the calibration point. The tilt measuring component acquires the current attitude information of the lidar body 11, and the operator can determine the required pitch and roll angles of the lidar body 11 based on the current attitude information. For example, if the roll angle of the lidar body 11 should be adjusted to -0.5°, the operator can adjust the roll angle of the measuring component 300 to -0.5° using the first support component 200. Then, the laser component 310 performs secondary calibration on the adjusting support column 12 to form a secondary calibration point. The operator can then adjust the length of the corresponding adjusting support column 12 based on the secondary calibration point, such as the second adjusting support column 12b and the third adjusting support column 12c, so that the primary calibration point of the adjusting support column 12 coincides with the secondary calibration point, thereby adjusting the roll angle of the lidar body 11. Similarly, the pitch angle of the lidar body 11 can be adjusted by adjusting the first adjusting support column 12a, which will not be elaborated here. Thus, through the coordinated operation of the first support component 200 and the measuring component 300, the adjustment accuracy can be improved and the adjustment time can be saved, thereby meeting the installation requirements of the lidar 10. Optionally, the roll angle of the lidar body 11 can be adjusted first, and then the pitch angle of the lidar body 11 can be adjusted. This embodiment of the application does not limit this.

[0069] See Figure 4In some embodiments, the first support assembly 200 further includes a first fastener 230 and a second fastener 240. The first fastener 230 passes through the first support portion 210 and the connecting mechanism 100 to lock the roll angle of the measuring assembly 300. The measuring assembly 300 is rotatably connected to the second support portion 220, and the second fastener 240 passes through the second support portion 220 and the measuring assembly 300 to lock the pitch angle of the measuring assembly 300.

[0070] Understandably, to achieve the angle adjustment and locking functions of the first support component 200 and ensure stability and accuracy during the debugging process, the first support component 200 may include a first fastener 230 and a second fastener 240. The first fastener 230 may be a stepped shaft with external threads, its shoulder portion located on the side of the first support portion 210 opposite to the connecting mechanism 100, and its shaft body passing through the mounting hole of the first support portion 210 and extending to the connecting mechanism 100. Thus, when it is necessary to lock the roll angle, the operator tightens the first fastener 230, and the end face of the shoulder abuts against the surface of the first support portion 210, thereby locking the position of the first support portion 210 relative to the connecting mechanism 100 and preventing the first support portion 210 from rotating around the first axis.

[0071] It should be noted that the second fastener 240 may include a sleeve with internal threads and a rod with external threads. Both the rod and the sleeve have abutment portions. The orthographic projection of the abutment portions on the second support portion 220 is larger than the orthographic projections of the rod and the sleeve on the second support portion 220. The abutment portions are used to abut against the surface of the second support portion 220. The sleeve passes through the second support portion 220 and the measuring assembly 300, and the rod is inserted into the sleeve. When the measuring assembly 300 rotates around the second axis to the target pitch angle, the second fastener 240 is tightened, and the abutment portions of the rod and the sleeve abut against the second support portion 220, thereby locking the relative position between the measuring assembly 300 and the second support portion 220 and preventing the measuring assembly 300 from rotating around the second axis.

[0072] Therefore, by setting the first fastener 230 and the second fastener 240, both the flexibility of angle adjustment and the stability of the measuring component 300 during the debugging process are ensured, thereby improving the debugging accuracy.

[0073] See Figure 4 In some embodiments, the first support component 200 further includes a positioning element 250, which passes through the first support portion 210 and the measuring component 300.

[0074] Understandably, the positioning element 250 is used to ensure the relative position between the measuring component 300 and the first support portion 210, preventing wobbling or offset during the adjustment of the pitch angle of the measuring component 300, thereby improving the accuracy of angle adjustment. Optionally, the positioning element 250 may include a positioning pin, the extension direction of which can be understood as being consistent with the height direction. The positioning pin may be configured to pass through the first support portion 210 and through the measuring component 300. That is, a blind hole may be provided on the side of the measuring component 300 facing the first support portion 210, the depth of which may be greater than or equal to the insertion length of the positioning pin, forming a clearance fit.

[0075] The positioning element 250 can effectively limit the displacement of the measuring component 300 in the non-adjustment direction. For example, when adjusting the pitch angle around the second axis, the mating surface of the positioning pin and the blind hole can counteract the radial force, prevent the measuring component 300 from swaying or tilting, and ensure that the pitch angle adjustment only rotates along the second axis, thereby ensuring the angle adjustment accuracy of the measuring component 300.

[0076] See Figure 5 In some embodiments, a second support assembly 400 is also included. The second support assembly 400 includes a support base 410, a control platform 420, and angle adjustment members 430. The support base 410 supports the lidar 10, and the control platform 420 is communicatively connected to the measurement assembly 300. At least three angle adjustment members 430 are provided, and each angle adjustment member 430 is connected between the support base 410 and the control platform 420. The control platform 420 is used to drive the angle adjustment members 430 to adjust their own length, thereby adjusting the pitch or roll angle of the lidar 10.

[0077] To further improve the debugging accuracy of the lidar 10 and save debugging time, the installation and debugging device 20 may also be equipped with a second support component 400. The second support component 400 serves as the actuator for adjusting the attitude of the lidar 10 and may include a support base 410, a control platform 420, and an angle adjustment component 430. The support base 410 may be flat, and the adjustment support column 12 of the lidar 10 may be connected to the support base 410.

[0078] Optionally, the angle adjustment member 430 may include three members, which may be a first angle adjustment member 430a, a second angle adjustment member 430b, and a third angle adjustment member 430c. For example, the first angle adjustment member 430a, the second angle adjustment member 430b, and the third angle adjustment member 430c may be arranged in an equilateral triangle. The first angle adjustment member 430a is positioned closer to the impeller than the second angle adjustment member 430b and the third angle adjustment member 430c, so that the first angle adjustment member 430a can adjust the pitch angle of the lidar 10, and the second angle adjustment member 430b and the third angle adjustment member 430c can adjust the roll angle of the lidar 10.

[0079] The control platform 420 can integrate a circuit board assembly with a processor, driver and communication module, and communicate with the tilt measuring component of the measurement assembly 300 via wireless or wired means to receive attitude information from the lidar 10.

[0080] The control platform 420 can determine the angle parameters that need to be adjusted based on the attitude information fed back by the measurement component 300. Then, the control platform 420 can send drive signals to each angle adjustment component 430 to adjust its own length according to the angle parameters, thereby realizing the attitude adjustment of the lidar 10. Thus, it eliminates the need for operators to manually adjust the pitch and roll angles of the measurement component 300 and manually adjust the length of the support column 12. The pitch and roll angles of the lidar 10 can be adjusted by the length of each angle adjustment component 430, thereby improving debugging efficiency, debugging accuracy, and automation.

[0081] See Figure 5 In some embodiments, the control platform 420 includes a drive control box 421, a first transmission interface 422, a power interface 423, and an indicator 424. The drive control box 421 is connected to the measuring component 300 through the first transmission interface 422. The drive control box 421 controls the angle adjustment component 430 to adjust its own length. The power interface 423 is used to connect to an external power source. The indicator 424 is connected to the drive control box 421 and includes at least one of an indicator light and an acoustic prompting component.

[0082] In practice, the drive control box 421 can integrate a microcontroller, motor drive circuit, and signal processing module to precisely adjust the extension and retraction of the angle adjustment component 430. The first transmission interface 422 is located on the side of the control platform 420 to establish a data link with the tilt measuring component of the measurement assembly 300 via the transmission line 500, receiving attitude information and sending control commands in real time. The power interface 423 can be used to connect an external power supply to ensure the stable operation of the second support assembly 400.

[0083] It should be noted that the indicator 424 can be located on the side of the control platform 420, and the indicator 424 can include at least one of an indicator light or an acoustic prompt. Taking an indicator light as an example, the indicator light can be red, green, etc. During the debugging process, the measurement component 300 first acquires the initial attitude information of the lidar 10. The initial attitude information can be transmitted to the drive control box 421 via the transmission line 500. The drive control box 421 can compare the current pitch angle of the lidar 10 with the preset pitch angle to be achieved. If the current pitch angle does not meet the preset pitch angle to be achieved, the indicator light will not light up, and the drive control box 421 will further determine whether the current pitch angle is too large or too small. Then, the drive control box 421 compares the current roll angle of the lidar 10 with the preset roll angle. If the current roll angle does not meet the preset roll angle, the indicator light will not illuminate. The drive box further determines whether the current roll angle is too large or too small, and determines the size of the roll angle to be adjusted. Then, it adjusts the second angle adjustment component 430b and / or the third angle adjustment component 430c to adjust the roll angle of the lidar 10. When the roll angle adjustment is complete, the drive control box 421 can determine the size of the pitch angle to be adjusted and control the first angle adjustment component 430a to adjust it to adjust the pitch angle of the lidar 10. When the pitch angle adjustment is complete, the indicator light will illuminate to remind the operator that the lidar 10 has been adjusted. This setting facilitates the operator's observation of the working status of the installation and debugging device 20, thereby improving debugging efficiency and safety.

[0084] See Figure 5 In some embodiments, the angle adjustment member 430 includes a drive unit 431, a transmission connection unit 432, a linear transmission unit 433, and a multi-degree-of-freedom hinge unit 434. One end of the transmission connection unit 432 is connected to the drive unit 431, and the other end is connected to the linear transmission unit 433. The end of the linear transmission unit 433 away from the transmission connection unit 432 is connected to the support base 410 via the multi-degree-of-freedom hinge unit 434.

[0085] Understandably, the drive unit 431 may include a motor to execute commands from the drive control box 421, driving the linear transmission unit 433 to rotate forward or in reverse. The transmission connection unit 432 may include a coupling, with one end connected to the output end of the drive unit 431 and the other end connected to the input end of the linear transmission unit 433 to transmit driving force.

[0086] Optionally, the linear transmission unit 433 may include a transmission screw 433a with external threads and a threaded sleeve 433b with internal threads. The transmission screw 433a can rotate relative to the threaded sleeve 433b under the driving force of the drive unit 431 to adjust the screw-in depth of the transmission screw 433a relative to the threaded sleeve 433b, thereby realizing the adjustment of the length of the linear transmission unit 433 itself. In addition, the linear transmission unit 433 may also include a hydraulic transmission structure, a pneumatic transmission structure, etc., which are not limited in this embodiment. The multi-degree-of-freedom hinge 434 may include a universal joint. The fixed end of the universal joint is connected to one of the linear transmission part 433 and the support base 410, and the rotating end of the universal joint is connected to the other of the linear transmission part 433 and the support base 410. For example, the fixed end of the universal joint is connected to the support base 410, and the rotating end is connected to the linear transmission part 433. Thus, when the length of one of the linear transmission parts 433 is adjusted, the support base 410 can adapt to the height of different angle adjustment members 430 through the universal joint, thereby realizing the adjustment of the pitch angle and / or roll angle of the support base 410, and thus realizing the adjustment of the pitch angle and / or roll angle of the lidar 10.

[0087] See Figure 5 In some embodiments, the linear transmission unit 433 includes a transmission screw 433a and a threaded sleeve 433b fitted onto the transmission screw 433a. The transmission screw 433a is connected to the drive unit 431 through a transmission connection part 432, and the end of the threaded sleeve 433b away from the transmission screw 433a is connected to a multi-degree-of-freedom hinge part 434.

[0088] In specific implementation, taking the linear transmission unit 433, including the transmission screw 433a and the sleeve 433b, as an example, the working principle of the angle adjustment component 430 can be understood as follows: After receiving the drive signal from the drive control box 421, the drive unit 431 drives the transmission screw 433a of the linear transmission unit 433 to rotate through the transmission connection unit 432. The linear transmission unit 433 converts the rotational motion of the transmission screw 433a into the linear motion of the sleeve 433b, thereby causing the sleeve 433b to extend or retract relative to the transmission screw 433a along its own length direction. Since the linear transmission unit 433 is connected to the support base 410 through a universal joint, the extension or retraction of the sleeve 433b can be converted into an angular change of the support base 410 relative to the control platform 420, thereby driving the lidar body 11 to adjust the pitch or roll angle.

[0089] See Figure 9 and Figure 10 In some embodiments, the measuring component 300 has an adjustment hole 320, which is connected to the beam grid of the laser component 310 for adjusting the beam parameters of the laser component 310.

[0090] It should be noted that the adjustment hole 320 provides operating space for adjusting the beam parameters of the laser element 310, ensuring that the laser element 310 can adapt to the calibration requirements of different debugging scenarios. Optionally, the beam grid may include optical elements such as collimating lens group, diffuser, and aperture adjustment ring.

[0091] When beam parameters need adjustment, operators can insert an adjustment hole 320 using a special tool or manually to act on the beam grid of the laser component 310. For example, by rotating the focal length adjustment unit within the adjustment hole 320, the collimating lens group is moved along the optical axis, achieving continuous adjustment of the laser beam focal length. Clockwise rotation moves the collimating lens group closer to the laser source, reducing the beam divergence angle. Counterclockwise rotation moves the collimating lens group away from the source, increasing the beam divergence angle and forming a larger spot diameter, facilitating large-area marking at close range. The connection between the adjustment hole 320 and the beam grid allows operators to conveniently adjust parameters such as the laser beam focal length, shape, and divergence angle without disassembling the measurement component 300. This improves the adaptability of the measurement component 300 to different debugging environments, ensuring clear and accurate calibration marks under various operating conditions, and providing a reliable guarantee for the high-precision installation and debugging of the lidar 10.

[0092] See Figure 9 and Figure 10 In some optional embodiments, the measurement component 300 further includes a display 330, a second transmission interface 340, a third transmission interface 360, and a control button 350. The display 330 is used to display the angle information of the lidar 10. The measurement component 300 is connected to the second support component 400 through the second transmission interface 340, and the control button 350 is used to control the second support component 400.

[0093] The display 330 can be embedded in the housing of the measuring component 300, and its display content can include attitude information such as the current roll angle and pitch angle of the lidar 10. The second transmission interface 340 can be located on the side of the measuring component 300, and establishes a data link with the control platform 420 of the second support component 400 through the transmission line 500 to transmit the attitude information collected by the tilt measuring device in real time and receive feedback information from the control platform 420. The third transmission interface 360 ​​can be a general USB interface for updating and downloading data between the measuring component 300 and the control platform 420.

[0094] The control button 350 can be used to issue execution commands. When the operator triggers the control button 350, the second support component 400 can adjust itself accordingly based on the information transmitted by the measuring component 300, thereby realizing automated debugging of the lidar 10. During actual debugging, the operator can monitor the angle changes of the lidar 10 in real time through the display 330, improving the ease of use and functionality of the installation and debugging device 20.

[0095] In addition, the measuring component 300 is provided with a fixing hole 370, and the second fastener 240 passes through the second support portion 220 and the fixing hole 370 to fix the measuring component 300 to the second support portion 220.

[0096] See Figures 6 to 8 In some embodiments, the connecting mechanism 100 includes a pair of clamping components 110 and a first driving component. A receiving area is formed between the pair of clamping components 110 for clamping the support platform 13 or the support base 410. The first driving component is connected to at least one clamping component 110 and drives the pair of clamping components 110 to move toward or away from each other to adjust the size of the receiving area.

[0097] Understandably, the connecting mechanism 100 achieves adaptive clamping of support platforms 13 or support bases 410 of different specifications through the coordinated action of paired clamping components 110 and the first driving component. The paired clamping components 110 can be arranged in a mirror image, forming a receiving area between their opposing inner sides to accommodate the support platform 13 or support base 410. The spacing between the paired clamping components 110 is adjustable. The clamping surfaces of the clamping components 110 can be provided with an anti-slip layer to increase friction with the surface of the support platform 13 or support base 410, ensuring the stability of the relative position of the installation and debugging device 20 and the lidar 10 during the debugging process.

[0098] The first drive assembly is driven to at least one clamping assembly 110. Taking the drive assembly being driven to one of the clamping assemblies 110 as an example, when the support platform 13 or support base 410 needs to be clamped, the first drive assembly drives the clamping assembly 110 to move towards the other clamping assembly 110, thereby reducing the size of the accommodating area until the clamping surfaces of the two clamping assemblies 110 respectively abut against the opposite sides of the support platform 13 or support base 410, thus achieving the clamping function. When it is necessary to separate the connecting mechanism 100 from the support platform 13 or support base 410, the first drive assembly drives the clamping assembly 110 to move away from the other clamping assembly 110, thereby increasing the size of the accommodating area and facilitating the disassembly of the connecting mechanism 100.

[0099] Optionally, the driving method of the first driving component may include electric, hydraulic, pneumatic, etc., and this embodiment of the application does not limit it. Through the design of the adjustable clamping component 110, the connecting mechanism 100 can adapt to support platforms 13 or support bases 410 of different sizes and shapes, and can achieve quick installation and disassembly through simple operation, improving debugging efficiency and versatility.

[0100] See Figure 7 and Figure 8In some embodiments, the first driving assembly includes a first driving member 121 and a second driving member 122. The first driving member 121 is used to drive the paired clamping assemblies 110 to move toward or away from each other along a first direction X. The clamping assembly 110 includes a pair of clamping arms 111 connected to the second driving member 122. The second driving member 122 is used to drive the paired clamping arms 111 to move toward or away from each other along a second direction Y. The first direction X and the second direction Y are intersecting.

[0101] It should be noted that the connecting mechanism 100 achieves multi-dimensional clamping adjustment of the support platform 13 or support base 410 through the first driving member 121 and the second driving member 122. The first direction X can be understood as the height direction or the thickness direction of the support platform 13 or support base 410. The first driving member 121 is drivenly connected to at least one of the paired clamping components 110 so that the paired clamping components 110 can move towards or away from each other along the first direction X, thereby adjusting the size of the receiving area in the first direction X. For example, when it is necessary to clamp support platforms 13 of different widths, the first driving member 121 can mechanically drive the paired clamping components 110 to move closer or further apart until the inner surface of the clamping components 110 is in contact with both sides of the support platform 13.

[0102] The second direction Y can be understood as the width direction of the support platform 13 or the support base 410. The second driving member 122 is connected to each clamping arm 111 to drive the pair of clamping arms 111 in the same clamping assembly 110 to move towards or away from each other along the second direction Y, thereby adjusting the size of the accommodating area in the second direction Y, and thus adapting to the width of the support platform 13 or the support base 410 of different sizes.

[0103] Thus, by using the first driving member 121 and the second driving member 122 to adjust the size of the accommodating area in the first direction X and the second direction Y, the versatility of the connecting mechanism 100 can be improved to match support platforms 13 or support bases 410 of different specifications.

[0104] See Figure 7 and Figure 8 In some embodiments, the connecting mechanism 100 further includes a clamping assembly 130, which includes a first clamp 131 and a second clamp 132 slidably connected to the first clamp 131. The first clamp 131 and the second clamp 132 are respectively connected to one of the clamping assemblies 110, and the clamping assembly 110 corresponding to the second clamp 132 can slide relative to the first clamp 131 following the second clamp 132.

[0105] See Figures 11 to 14To facilitate adjustment of the spacing between the paired clamping components 110 in the first direction X, the connecting mechanism 100 may also include a clamping assembly 130. The second clamp 132 can be connected to the first driving member 121, enabling a sliding connection between the first driving member 121 and the first clamp 131. Both the first clamp 131 and the second clamp 132 are provided with a groove 133, which accommodates at least a portion of the first driving member 121 and a portion of the clamping components 110. When the spacing of the clamping components 110 needs to be adjusted, the first driving member 121 drives the second clamp 132 to slide relative to the first clamp 131 in the first direction X. As the second clamp 132 slides, the clamping components 110 embedded in the groove 133 of the second clamp 132 move synchronously, thereby achieving adjustment of the spacing between the paired clamping components 110 in the first direction X.

[0106] Optionally, one of the first clamp 131 and the second clamp 132 is provided with a guide groove 1313 and the other is provided with a guide rail 1321. For example, the first clamp 131 is provided with a guide groove 1313 and the second clamp 132 is provided with a guide rail 1321. The guide rail 1321 is slidably disposed in the guide groove 1313. Thus, the movement of the second clamp 132 relative to the first clamp 131 can be guided and limited, preventing the second clamp 132 from detaching from the first clamp 131.

[0107] By setting the clamping assembly 130, the spacing between the paired clamping assemblies 110 in the first direction X can be adjusted, and the stability of the fit between the components of the connecting mechanism 100 can also be improved.

[0108] See Figure 8 In some embodiments, the connecting mechanism 100 further includes a second driving component 140, which includes a drive motor 141 and a first transmission member 142 connected to the drive motor 141. The drive motor 141 is slidably connected to the first clamp 131 so that the first transmission member 142 is in transmission engagement with one of the first driving member 121 and the second driving member 122.

[0109] To realize the driving functions of the first driving member 121 and the second driving member 122, the connecting mechanism 100 may also be provided with a second driving assembly 140. The driving motor 141 of the second driving assembly 140 may be disposed on and slidably connected to the first clamp 131. The first driving member 121 of the second driving assembly 140 may be located in the groove 133 of the first clamp 131. The first transmission member 142 is connected to the output end of the driving motor 141. The second driving assembly 140 may switch between a first working position and a second working position relative to the first clamp 131 to drive and cooperate with the first driving member 121 or the second driving member 122, thereby realizing the adjustment of the size of the accommodating area in the first direction X or the second direction Y.

[0110] When the drive motor 141 slides to the first working position, the first transmission member 142 and the first driving member 121 are in transmission cooperation. The rotational motion of the drive motor 141 is transmitted to the first driving member 121 through the first transmission member 142, thereby driving the pair of clamping assemblies 110 to move toward or away from each other in the first direction X, thereby realizing the size adjustment of the receiving area in the first direction X.

[0111] When the drive motor 141 slides to the second working position, the first transmission member 142 and the second drive member 122 are in transmission cooperation. The rotational motion of the drive motor 141 is transmitted to the second drive member 122 through the first transmission member 142, thereby driving the pair of clamping arms 111 in the same clamping assembly 110 to move toward or away from each other along the second direction Y, thereby realizing the size adjustment of the accommodating area in the second direction Y.

[0112] Therefore, the first drive component 121 and the second drive component 122 can share the second drive assembly 140, reducing the number of drive parts 431 and the installation space, thereby reducing the manufacturing cost and maintenance difficulty of the connection mechanism 100.

[0113] See Figure 11 and Figure 12 In some embodiments, the first clamp 131 is provided with a positioning groove 1311, the positioning groove 1311 is provided with a movable pin hole 1312, and the drive motor 141 is disposed in the positioning groove 1311 and can slide relative to the first clamp 131 along the movable pin hole 1312.

[0114] In a specific implementation, the first clamp 131 is provided with a positioning groove 1311 to accommodate and limit the drive motor 141, preventing the drive motor 141 from detaching from the first clamp 131. For example, the positioning groove 1311 can be a rectangular recess. Further, to enable the drive motor 141 to slide relative to the first clamp 131, thereby achieving transmission engagement between the first transmission member 142 and the first drive member 121 or the second drive member 122, a movable pin hole 1312 is provided on the positioning groove 1311. The movable pin hole 1312 can be an elongated strip extending along the line connecting the first drive member 121 and the second drive member 122. Thus, the drive motor 141 can be positioned within the positioning groove 1311, with its output end passing through the movable pin hole 1312, thereby enabling movement along the extending direction of the movable pin hole 1312.

[0115] When it is necessary to switch the working position of the drive motor 141, the operator pushes the drive motor 141 along the movable pin hole 1312 until the first transmission member 142 engages with the first drive member 121 or the second drive member 122. It is understood that the drive motor 141 can maintain its position relative to the first clamp 131 by its own weight, thereby ensuring the transmission engagement between the first transmission member 142 and the first drive member 121 or the second drive member 122.

[0116] In addition, the first clamp 131 is provided with a first positioning hole 1314 and a second positioning hole 1315. The first driving member 121 passes through the first positioning hole 1314 and the second driving member 122 passes through the second positioning hole 1315. The first positioning hole 1314 and the second positioning hole 1315 can limit the first driving member 121 and the second driving member 122 so as to facilitate the transmission cooperation between the first driving member 121 or the second driving member 122 and the first transmission member 142.

[0117] See Figure 7 and Figure 8 In some embodiments, the first transmission member 142 includes a first transmission gear 142a. The first driving member 121 includes a bearing 1211, a second transmission gear 1212, and a screw 1213 connected between the bearing 1211 and the second transmission gear 1212. The fixed end of the bearing 1211 is connected to the second clamp 132, and the screw 1213 is rotatably connected to the first clamp 131. The second transmission gear 1212 is used to mesh with the first transmission gear 142a. The second driving member 122 includes a transmission rod 1221, a third transmission gear 1222 connected to the transmission rod 1221, and a pair of second transmission members 1223. The two ends of the second transmission members 1223 are respectively connected to a pair of clamping arms 111. The third transmission gear 1222 is used to mesh with the first transmission gear 142a.

[0118] In a specific implementation, the first transmission component 142, serving as a power output hub, may include a first transmission gear 142a. The first transmission gear 142a is fixed to the output shaft of the drive motor 141 and can mesh with either the first drive component 121 or the second drive component 122 when sliding along the positioning groove 1311 with the drive motor 141. The first drive component 121 may include a bearing 1211, a second transmission gear 1212, and a screw 1213. The outer ring of the bearing 1211 can be rigidly connected to the bearing mounting hole 1322 of the second clamp 132 via a flange. The inner ring of the bearing 1211 can be connected to one end of the screw 1213 to ensure that the screw 1213 maintains stable axial positioning during rotation. The other end of the screw 1213 is meshed with the first transmission gear 142a via the second transmission gear 1212. The first positioning hole 1314 of the first clamp 131 may be a threaded hole, through which the screw 1213 is rotatably connected to the first clamp 131. When the first transmission gear 142a meshes with the second transmission gear 1212, the torque of the drive motor 141 is transmitted to the screw 1213 through the first transmission gear 142a and the second transmission gear 1212. The rotational motion of the screw 1213 is converted into linear motion through the bolt hole, so that the screw 1213 rises or falls relative to the first clamp 131 along its own axial direction, thereby driving the second clamp 132 to slide relative to the first clamp 131, and then driving the clamping assembly 110 to adjust the spacing along the first direction X.

[0119] It should be noted that the second driving component 122 may include a transmission rod 1221, a third transmission gear 1222, and a pair of second transmission components 1223. The two ends of the second transmission components 1223 are respectively connected to the pair of clamping arms 111. The transmission rod 1221 passes through the second positioning hole 1315, allowing it to rotate relative to the first clamp 131 along its own axial direction. Furthermore, the second clamp 132 also has a transmission rod mounting hole 1324 for accommodating the transmission rod 1221. The third transmission gear 1222 is fixed to the transmission rod 1221 and can mesh with the first transmission gear 142a. When the drive motor 141 slides to the position where it meshes with the third transmission gear 1222, the torque of the drive motor 141 is transmitted to the transmission rod 1221 through the first transmission gear 142a and the third transmission gear 1222. When the transmission rod 1221 rotates, the second transmission component 1223 connected to the transmission rod 1221 drives the pair of clamping arms 111 to move towards or away from each other along the second direction Y, thereby realizing the adjustment of the distance between the pair of clamping arms 111.

[0120] It should also be noted that the outer side of the transmission rod 1221 may be provided with an axial thread, and the second transmission member 1223 corresponding to the second clamp 132 may be provided with an axial internal thread. Thus, when the transmission rod 1221 rotates under the drive of the third transmission gear 1222, the rotational force can be transmitted to the second transmission member 1223. When the second transmission gear 1212 engages with the first transmission gear 142a, the second transmission member 1223 can move toward or away from the first clamp 131 following the second clamp 132.

[0121] Optionally, the second transmission component 1223 may include a ball screw pair, a rack and pinion mechanism, a slider guide mechanism, etc., and the embodiments of this application are not limited herein.

[0122] See Figure 7 In some embodiments, the second transmission member 1223 includes a transmission disk 1223a and a pair of connecting rods 1223b. The transmission disk 1223a is connected to the transmission rod 1221. One end of the connecting rod 1223b is connected to the transmission disk 1223a, and the other end is provided with a transmission rack 1223c. The clamping arm 111 is provided with a transmission tooth 111a at one end facing the connecting rod 1223b, and the transmission tooth 111a meshes with the transmission rack 1223c.

[0123] It is understood that the transmission disk 1223a may include a circular metal disk, and the transmission disk 1223a may be fixed to the transmission rod 1221 and rotate synchronously with the transmission rod 1221. Pairs of connecting rods 1223b are symmetrically arranged, with one end hinged to the transmission disk 1223a via a pin, and the other end hinged to the transmission rack 1223c. The transmission rack 1223c may include straight teeth, and its length direction is consistent with the second direction Y (i.e., the direction of movement of the clamping arm 111).

[0124] When the transmission rod 1221 rotates under the drive of the first transmission gear 142a, the transmission disk 1223a rotates synchronously. Then, the torque of the drive motor 141 is transmitted to the transmission rack 1223c through the connecting rod 1223b, so as to drive the transmission rack 1223c to perform reciprocating linear motion. The racks on both sides mesh with the corresponding transmission teeth 111a of the clamping arms 111, respectively, driving the pair of clamping arms 111 to move towards each other or towards each other along the second direction Y, so that the pair of clamping arms 111 can adapt to different specifications of support base 410 or support platform 13.

[0125] See Figure 6 In some embodiments, the connecting mechanism 100 further includes a connecting pin 150, which passes through the clamping assembly 130 and the clamping arm 111 so that the clamping arm 111 can rotate about the axis of the connecting pin 150 relative to the clamping assembly 130.

[0126] In practice, the clamping arm 111 has rotational freedom relative to the clamping assembly 130 via the connecting pin 150. The axis of the connecting pin 150 is perpendicular to the direction of movement of the clamping arm 111 and passes through the connecting through hole 1323 of the clamping assembly 130 and the shaft hole of the clamping arm 111 in sequence, forming a rotatable connecting node.

[0127] In addition, the two ends of the connecting pin 150 can be used to limit the clamp assembly 130 and the clamping arm 111 to the connecting pin 150 by retaining rings or protrusions, so as to prevent the clamp assembly 130 and the clamping arm 111 from moving along the axial direction of the connecting pin 150 and thus disengaging from each other.

[0128] See Figure 6 In some alternative embodiments, the end of the clamping arm 111 away from the connecting pin 150 is provided with an auxiliary tightening hole 111b for connecting a tightening member.

[0129] It should be noted that the clamping component may include clamping bolts, clamping ropes, etc. When the clamping component includes clamping bolts, the auxiliary clamping hole 111b may be a bolt hole. When the clamping arm 111 is clamped on the support platform 13 or the support base 410, the clamping bolt is inserted into the bolt hole and tightened so that the clamping bolt abuts against the support platform 13 or the support base 410, thereby further increasing the clamping force of the connecting mechanism 100.

[0130] Alternatively, when the clamping member includes a clamping rope, the auxiliary clamping hole 111b can be a through hole. One end of the clamping rope is connected to one of the pair of auxiliary clamping holes 111b, and then the other end is wrapped around the side of the support platform 13 or the side of the support base 410 and then connected to the other of the pair of auxiliary clamping holes 111b. This can further increase the clamping force of the connecting mechanism 100 on the support platform 13 or the support base 410 to ensure the positional stability of the measuring component 300 relative to the lidar 10.

[0131] Secondly, see Figure 1 and Figure 2This application also provides an installation and debugging device 20 for a lidar 10, comprising: a second support assembly 400, including a control platform 420 and a plurality of spaced-apart angle adjustment members 430, the length of which is adjustable; one end of each angle adjustment member 430 is connected to the control platform 420 along its length and the other end is used to support the lidar 10; the control platform 420 is used to drive the angle adjustment members 430 to adjust their length to adjust the pitch angle and / or roll angle of the lidar 10; a connecting mechanism 100 is connected to either the second support assembly 400 or the lidar 10; a first support assembly 200 is disposed on the connecting mechanism 100; and a measuring assembly 300 is disposed on the first support assembly 200 and communicatively connected to the control platform 420, the measuring assembly 300 being used to measure the attitude information of the lidar 10 and transmit it to the control platform 420, the control platform 420 being used to control the angle adjustment members 430 to adjust the pitch angle and / or roll angle of the lidar 10.

[0132] When debugging the lidar 10, the connecting mechanism 100 can be connected to the second support component 400 or the lidar 10. The measuring component 300 is connected to the connecting mechanism 100 through the first support component 200, and the measuring component 300 acquires the attitude information of the lidar 10. Then, the measuring component 300 transmits the attitude information to the control platform 420, which can determine the required pitch and / or roll angles of the lidar. The control platform 420 then adjusts the pitch and / or roll angles of the lidar 10 by controlling the extension and retraction length of the angle adjustment component 430. This improves debugging accuracy and saves debugging time, thereby meeting the installation requirements of the lidar.

[0133] In order to connect the installation and debugging device 20 to either the second support component 400 or the lidar 10, a connecting mechanism 100 may be provided. The specific structure of the connecting mechanism 100 has been described in detail in the above embodiments and will not be repeated here.

[0134] It should be noted that the measurement component 300 may include a tilt measuring device and a laser device 310. Optionally, the tilt measuring device may be an inclinometer, which can acquire the three-dimensional attitude information of the lidar body 11 in real time, so as to adjust the roll angle and pitch angle of the lidar body 11 according to the initial attitude information of the lidar body 11 obtained by the inclinometer.

[0135] To enable the connection between the measuring component 300 and the connecting mechanism 100, a first support component 200 may also be provided. The first support component 200 may include a support base for secure connection to both the connecting mechanism 100 and the measuring component 300.

[0136] It should also be noted that one of the second support component 400 and the lidar 10 is provided with a support base 410, which is used to support the lidar 10. Optionally, the measurement component 300 can be connected to the support base 410 via the connecting mechanism 100.

[0137] Optionally, three angle adjustment components 430 can be provided. These three angle adjustment components 430 can be designated as a first angle adjustment component 430a, a second angle adjustment component 430b, and a third angle adjustment component 430c. For example, the first angle adjustment component 430a, the second angle adjustment component 430b, and the third angle adjustment component 430c can be arranged in an equilateral triangle. The first angle adjustment component 430a is positioned closer to the impeller than the second angle adjustment component 430b and the third angle adjustment component 430c, so that the first angle adjustment component 430a adjusts the pitch angle of the lidar 10, and the second angle adjustment component 430b and the third angle adjustment component 430c adjust the roll angle of the lidar 10. The specific structure of the angle adjustment component 430 has been described in detail in the above embodiments and will not be repeated here.

[0138] The control platform 420 can be a circuit board assembly integrating a processor, driver, and communication module. It communicates with the tilt measuring element of the measuring component 300 via wireless or wired means to receive attitude information from the lidar 10. The specific structure of the control platform 420 can also be consistent with the control platform 420 in the installation and debugging device 20 provided in the first aspect, and will not be described in detail here. After the control platform 420 determines the angle parameters that need to be adjusted based on the attitude information fed back by the measuring component 300, the control platform 420 sends drive signals to each angle adjusting component 430 to adjust its own length according to the angle parameters, thereby realizing the attitude adjustment of the lidar 10.

[0139] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An installation and debugging device for a lidar, wherein the lidar (10) comprises a lidar body (11), a plurality of adjustment supports (12), and a support platform (13) connecting the lidar body (11) and the adjustment supports (12), characterized in that, The installation and commissioning device (20) includes: A connecting mechanism (100) is used to clamp the support platform (13) or the support base (410) where the lidar (10) is located; A first support component (200) is disposed on the connecting mechanism (100); A measurement component (300) is disposed on the first support component (200). The measurement component (300) includes an inclination measuring element and a laser element (310). The laser element (310) is used to calibrate the target position of the adjustment column (12), and the inclination measuring element is used to obtain the attitude information of the lidar body (11). The first support component (200) includes a first support part (210) and a second support part (220). The first support part (210) is rotatably connected to the connecting mechanism (100), and the second support part (220) is connected to the first support part (210). The measuring component (300) is disposed on the second support part (220). The first support part (210) can drive the second support part (220) and the measuring component (300) to rotate relative to the connecting mechanism (100) around a first axis to adjust the roll angle of the measuring component (300). The measuring component (300) can rotate relative to the first support part (210) around a second axis to adjust the pitch angle of the measuring component (300). The extension directions of the first axis and the second axis intersect.

2. The installation and debugging device for a lidar according to claim 1, characterized in that, The first support assembly (200) further includes a first fastener (230) and a second fastener (240), wherein the first fastener (230) passes through the first support portion (210) and the connecting mechanism (100) to lock the roll angle of the measuring assembly (300); The measuring component (300) is rotatably connected to the second support (220), and the second fastener (240) passes through the second support (220) and the measuring component (300) to lock the pitch angle of the measuring component (300).

3. The installation and debugging device for a lidar according to claim 1, characterized in that, The first support assembly (200) further includes a positioning element (250), which passes through the first support portion (210) and the measuring assembly (300).

4. The installation and debugging device for a lidar according to claim 1, characterized in that, It also includes a second support assembly (400), which includes the support base (410), a control platform (420) and an angle adjustment component (430). The support base (410) is used to support the lidar (10), and the control platform (420) is communicatively connected to the measurement component (300). At least three angle adjustment components (430) are provided. The angle adjustment components (430) are connected between the support base (410) and the control platform (420). The control platform (420) is used to drive the angle adjustment components (430) to adjust their own length in order to adjust the pitch angle or roll angle of the lidar (10).

5. The installation and debugging device for a lidar according to claim 4, characterized in that, The control platform (420) includes a drive control box (421), a first transmission interface (422), a power interface (423), and an indicator (424). The drive control box (421) is connected to the measuring component (300) through the first transmission interface (422). The drive control box (421) controls the angle adjustment component (430) to adjust its own length. The power interface (423) is used to connect to an external power source. The indicator (424) is connected to the drive control box (421), and the indicator (424) includes at least one of an indicator light and an acoustic prompt.

6. The installation and debugging device for a lidar according to claim 4, characterized in that, The angle adjustment component (430) includes a drive unit (431), a transmission connection unit (432), a linear transmission unit (433), and a multi-degree-of-freedom hinge unit (434). One end of the transmission connection unit (432) is connected to the drive unit (431), and the other end is connected to the linear transmission unit (433). The end of the linear transmission unit (433) away from the transmission connection unit (432) is connected to the support base (410) through the multi-degree-of-freedom hinge unit (434).

7. The installation and debugging device for a lidar according to claim 6, characterized in that, The linear transmission unit (433) includes a transmission screw (433a) and a threaded sleeve (433b) fitted onto the transmission screw (433a). The transmission screw (433a) is connected to the drive unit (431) through the transmission connection part (432). The end of the threaded sleeve (433b) away from the transmission screw (433a) is connected to the multi-degree-of-freedom hinge part (434).

8. The installation and debugging device for a lidar according to claim 4, characterized in that, The measuring component (300) has an adjustment hole (320) which is connected to the beam grid of the laser component (310) to adjust the beam parameters of the laser component (310). And / or, the measuring component (300) further includes a display (330), a second transmission interface (340), a third transmission interface (360), and a control button (350). The display (330) is used to display the angle information of the lidar (10). The measuring component (300) is connected to the second support component (400) through the second transmission interface (340). The control button (350) is used to control the second support component (400).

9. The installation and debugging device for a lidar according to any one of claims 1 to 7, characterized in that, The connecting mechanism (100) includes a pair of clamping components (110) and a first driving component. A receiving area is formed between the pair of clamping components (110) for clamping the support platform (13) or the support base (410). The first driving component is connected to at least one of the clamping components (110) and drives the pair of clamping components (110) to move toward or away from each other to adjust the size of the receiving area.

10. The installation and debugging device for a lidar according to claim 9, characterized in that, The first drive assembly includes a first drive member (121) and a second drive member (122), the first drive member (121) being used to drive the pair of clamping assemblies (110) to move toward or away from each other in a first direction (X); The clamping assembly (110) includes a pair of clamping arms (111) connected to a second drive member (122), which drives the pair of clamping arms (111) to move toward or away from each other in a second direction (Y). The first direction (X) and the second direction (Y) are intersecting.

11. The installation and debugging device for a lidar according to claim 10, characterized in that, The connecting mechanism (100) further includes a clamping assembly (130), which includes a first clamp (131) and a second clamp (132) slidably connected to the first clamp (131). The first clamp (131) and the second clamp (132) are respectively connected to one of the clamping components (110), and the clamping component (110) corresponding to the second clamp (132) can slide relative to the first clamp (131) following the second clamp (132).

12. The installation and debugging device for a lidar according to claim 11, characterized in that, The connecting mechanism (100) further includes a second drive assembly (140), which includes a drive motor (141) and a first transmission member (142) connected to the drive motor (141). The drive motor (141) is slidably connected to the first clamp (131) so that the first transmission member (142) is in transmission engagement with one of the first drive member (121) and the second drive member (122).

13. The installation and debugging device for a lidar according to claim 12, characterized in that, The first clamp (131) is provided with a positioning groove (1311), the positioning groove (1311) is provided with a movable pin hole (1312), and the drive motor (141) is disposed in the positioning groove (1311) and can slide relative to the first clamp (131) along the movable pin hole (1312).

14. The installation and debugging device for a lidar according to claim 13, characterized in that, The first transmission component (142) includes a first transmission gear (142a); The first driving component (121) includes a bearing (1211), a second transmission gear (1212), and a screw (1213) connected between the bearing (1211) and the second transmission gear (1212). The fixed end of the bearing (1211) is connected to the second clamp (132), and the screw (1213) is rotatably connected to the first clamp (131). The second transmission gear (1212) is used to mesh with the first transmission gear (142a). The second driving member (122) includes a transmission rod (1221), a third transmission gear (1222) connected to the transmission rod (1221), and a pair of second transmission members (1223). The two ends of the second transmission member (1223) are respectively connected to the pair of clamping arms (111). The third transmission gear (1222) is used to mesh with the first transmission gear (142a).

15. The installation and debugging device for a lidar according to claim 14, characterized in that, The second transmission component (1223) includes a transmission disc (1223a) and a pair of connecting rods (1223b). The transmission disc (1223a) is connected to the transmission rod (1221). One end of the connecting rod (1223b) is connected to the transmission disc (1223a), and the other end is provided with a transmission rack (1223c). The clamping arm (111) is provided with a transmission tooth (111a) at one end facing the connecting rod (1223b), and the transmission tooth (111a) is engaged with the transmission rack (1223c).

16. The installation and debugging device for a lidar according to claim 14, characterized in that, The connecting mechanism (100) further includes a connecting pin (150) which passes through the clamp assembly (130) and the clamping arm (111) so that the clamping arm (111) can rotate relative to the clamp assembly (130) about the axis of the connecting pin (150). And / or, the end of the clamping arm (111) away from the connecting pin (150) is provided with an auxiliary tightening hole (111b) for connecting a tightening member.

17. An installation and debugging device for a lidar, characterized in that, include: The second support component (400) includes a control platform (420) and a plurality of spaced angle adjustment members (430). The length of the angle adjustment member (430) is adjustable. One end of the angle adjustment member (430) is connected to the control platform (420) in its own length direction and the other end is used to support the lidar (10). The control platform (420) is used to drive the angle adjustment member (430) to adjust its own length in order to adjust the pitch angle and / or roll angle of the lidar (10). A connecting mechanism (100) is connected to one of the second support assembly (400) and the lidar (10); A first support component (200) is disposed on the connecting mechanism (100); A measurement component (300) is disposed on the first support component (200) and communicates with the control platform (420). The measurement component (300) is used to measure the attitude information of the lidar (10) and transmit it to the control platform (420). The control platform (420) is used to control the angle adjustment component (430) to adjust the pitch angle and / or roll angle of the lidar (10).

18. The installation and debugging device for a lidar according to claim 17, characterized in that, The angle adjustment component (430) includes a drive unit (431), a transmission connection unit (432), a linear transmission unit (433), and a multi-degree-of-freedom hinge unit (434). One end of the transmission connection unit (432) is connected to the drive unit (431), and the other end is connected to the linear transmission unit (433). The end of the linear transmission part (433) away from the transmission connection part (432) is connected to the multi-degree-of-freedom hinge part (434).

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