CN220105280U - AA equipment and laser radar equipment mechanism of full-automatic laser radar FAC - Google Patents
AA equipment and laser radar equipment mechanism of full-automatic laser radar FAC Download PDFInfo
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- CN220105280U CN220105280U CN202320701642.9U CN202320701642U CN220105280U CN 220105280 U CN220105280 U CN 220105280U CN 202320701642 U CN202320701642 U CN 202320701642U CN 220105280 U CN220105280 U CN 220105280U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 178
- 238000003384 imaging method Methods 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 230000001902 propagating effect Effects 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 3
- 238000012797 qualification Methods 0.000 abstract description 6
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- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
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- 230000003287 optical effect Effects 0.000 description 5
- 230000015572 biosynthetic process Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000003848 UV Light-Curing Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000010146 3D printing Methods 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Abstract
The utility model relates to the technical field of mechanical equipment, and discloses AA equipment of a full-automatic laser radar FAC and a laser radar assembly mechanism. The AA equipment of the full-automatic laser radar FAC comprises a first position adjusting mechanism, a second position adjusting mechanism and an imaging detection mechanism, the position of the laser radar is fixed and adjusted through the first position adjusting mechanism, the position of the FAC relative to the laser radar is adjusted through a second position adjusting component, the imaging position of the second beam is detected through the imaging detection mechanism after the second beam is formed, after the preset position is met, subsequent assembly is carried out, if the preset position is not met, the position between the laser radar and the FAC is adjusted through the first position adjusting mechanism or the second position adjusting mechanism until the preset position is met. Compared with the prior art, the position accuracy between the laser radar and the FAC can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, in particular to AA equipment of full-automatic laser radar FAC and a laser radar assembly mechanism.
Background
Besides the laser ranging technology, the laser radar also develops various technologies such as laser tracking, laser speed measurement, laser scanning imaging, laser Doppler imaging and the like, and is widely applied to the fields such as robots, unmanned aerial vehicles, VR/AR, intelligent transportation, ocean exploration, 3D printing and the like. For example, in the fields of robots, unmanned planes and the like, the laser radar can assist in sensing surrounding environments, and the functions of autonomous map building, path planning, autonomous obstacle avoidance and the like are realized. In order to improve the application range of the laser radar, the positions of all optical elements in the laser radar need to be assembled and positioned, if FAC (collimation diameter) needs to be assembled on a laser radar component, however, most of existing products are adhered on the laser radar component through simple measurement and positioning during assembly, and finally the formed laser radar product is poor in imaging precision and low in qualification rate.
Disclosure of Invention
In order to solve the technical problems of low assembly precision and poor imaging precision of a laser radar component and a FAC, the utility model mainly aims to provide AA equipment and a laser radar assembly mechanism of a full-automatic laser radar FAC, which can accurately adjust the assembly position of the laser radar component and the FAC, and has high assembly precision and imaging precision.
In order to achieve the aim of the utility model, the utility model adopts the following technical scheme:
according to one aspect of the present utility model, there is provided an AA apparatus of a fully automatic lidar FAC, comprising:
the first position adjusting mechanism is provided with a first fixed position, and the laser radar is arranged at the first fixed position;
a light source emitter for emitting a first light beam propagating along a first path;
the second position adjusting mechanism is provided with a second fixed position, the FAC is arranged at the second fixed position, and the second position adjusting mechanism is used for adjusting the position of the FAC relative to the laser radar so that the first light beam passes through the FAC and then is transmitted to the laser radar to form a second light beam which propagates along a second path;
and the imaging detection mechanism is used for receiving the second light beam and detecting the imaging position of the second light beam.
According to an embodiment of the present utility model, the imaging detection mechanism includes a reflecting prism, and an image capturing device, where the second light beam passes through the reflecting prism to form a third light beam transmitted along a second path, and the image capturing device is configured to receive an imaging position of the third light beam.
According to an embodiment of the utility model, the second light beam and the third light beam have a first included angle therebetween, and the angle of the first included angle is 90 °.
According to an embodiment of the present utility model, the image acquisition device is a laser macro.
According to an embodiment of the present utility model, the first position adjusting mechanism further includes a third fixed position, the light source emitter is disposed at the third fixed position, and the light source emitter emits the first light beam along the propagation direction of the light source emitter, and sequentially passes through the second fixed position, the first fixed position and the reflecting prism.
According to an embodiment of the present utility model, the first position adjustment mechanism includes a first three-coordinate adjustment mechanism, the first fixed position is disposed on the first three-coordinate adjustment mechanism, and the first three-coordinate adjustment mechanism is used for adjusting the position of the first fixed position on the X-axis, the Y-axis, and the Z-axis.
According to an embodiment of the present utility model, the second position adjustment mechanism includes a second three-coordinate adjustment mechanism and an angle adjustment mechanism, the angle adjustment mechanism is disposed on the second three-coordinate adjustment mechanism, the second fixed position is disposed on the angle adjustment mechanism, the second three-coordinate adjustment mechanism is used for adjusting positions of the angle adjustment mechanism on an X axis, a Y axis and a Z axis, and the angle adjustment mechanism is used for adjusting inclination angles of the second fixed position relative to the X axis, the Y axis and the Z axis, where the first three-coordinate adjustment mechanism and the second three-coordinate adjustment mechanism share a three-coordinate system.
According to an embodiment of the present utility model, further comprising:
the controller is electrically connected with the first position adjusting mechanism, the second position adjusting mechanism and the imaging detection mechanism to control the start-stop states of the first position adjusting mechanism, the second position adjusting mechanism and the imaging detection mechanism;
the processor is electrically connected with the controller, and is used for receiving the imaging position signals acquired by the imaging detection mechanism, and the processor is used for judging and processing the imaging position signals so as to enable the first position adjustment mechanism, the second position adjustment mechanism and the start-stop state of the imaging detection mechanism to be adjusted through the controller.
According to another aspect of the utility model, there is provided a lidar assembly mechanism comprising the AA device of the fully automated lidar FAC.
According to an embodiment of the present utility model, the laser radar comprises a laser radar, and further comprises a controller assembly and a dispensing mechanism, wherein the dispensing mechanism is connected with the controller assembly, and the dispensing mechanism is used for assembling the FAC on the laser radar.
According to the technical scheme, the AA equipment of the full-automatic laser radar FAC and the laser radar assembly mechanism have the advantages that:
the AA equipment of full-automatic laser radar FAC includes first position adjustment mechanism, second position adjustment mechanism and formation of image detection mechanism, carry out the fixed and the adjustment of position to laser radar through first position adjustment mechanism, adjust the position of FAC relative laser radar through second position adjustment subassembly, behind the second light beam that forms, detect the second light beam formation of image position through formation of image detection mechanism, after meeting the position of predetermineeing, assemble afterwards, if do not meet the position of predetermineeing, adjust the position between laser radar and the FAC through first position adjustment mechanism or second position adjustment mechanism, until meeting the position of predetermineeing. Compared with the prior art, the position accuracy between the laser radar and the FAC can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.
In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram of an overall structure of AA equipment of a full-automatic lidar FAC according to an embodiment of the present utility model;
fig. 2 is a schematic diagram of the overall structure of a first position adjusting mechanism in AA equipment of a full-automatic lidar FAC according to an embodiment of the present utility model;
fig. 3 is a schematic diagram of the overall structure of a second position adjusting mechanism in AA equipment of a full-automatic lidar FAC according to an embodiment of the present utility model;
fig. 4 is a schematic diagram of an overall structure of an imaging detection mechanism in AA equipment of a full-automatic lidar FAC according to an embodiment of the present utility model;
fig. 5 is a schematic diagram of an overall structure of a glue dispensing mechanism in a laser radar assembly mechanism according to an embodiment of the present utility model;
fig. 6 is a schematic diagram of the overall structure of a clamping jaw assembly in a lidar assembly mechanism according to an embodiment of the present utility model.
Wherein:
100. a first position adjustment mechanism; 11. a first fixed location; 12. a third fixed position; 13. a first three-coordinate adjustment mechanism;
200. a laser radar;
300. a second position adjustment mechanism; 31. a second fixed position; 32. a second three-coordinate adjustment mechanism; 33. angle adjusting mechanism
400、FAC；
500. An imaging detection mechanism; 51. a reflecting prism; 52. an image acquisition device;
600. a light source emitter;
700. a dispensing mechanism;
10. a jaw assembly.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Besides the laser ranging technology, the laser radar also develops various technologies such as laser tracking, laser speed measurement, laser scanning imaging, laser Doppler imaging and the like, and is widely applied to the fields such as robots, unmanned aerial vehicles, VR/AR, intelligent transportation, ocean exploration, 3D printing and the like. For example, in the fields of robots, unmanned planes and the like, the laser radar can assist in sensing surrounding environments, and the functions of autonomous map building, path planning, autonomous obstacle avoidance and the like are realized. In order to improve the application range of the laser radar, the positions of all optical elements in the laser radar need to be assembled and positioned, if FAC (collimation diameter) needs to be assembled on a laser radar component, however, most of existing products are glued on the laser radar component through simple measurement and positioning during assembly, and finally the formed laser radar product is poor in imaging precision and low in qualification rate.
The Active Alignment technology is a technology of processing images of specific targets shot by a Sensor to obtain different field definition and resolution values, and then automatically feeding back and controlling a 6-degree-of-freedom mobile platform to align Lens with the Sensor, and performing glue printing and UV curing. The difference from Passive Alignment (passive alignment) is that alignment is not performed with an external position or size, but with an image captured by a Sensor, which is Active, and is called AA.
The AA equipment is automatic precise equipment which connects the traditional front-section equipment and the back-section equipment together, and integrates the processes of focusing, dispensing, aligning, compensating, UV curing, testing and the like. The method is widely applied to the fields of mobile phone cameras, vehicle-mounted cameras, security lenses, VR/AR, laser radars and the like.
In order to solve the technical problems of low assembly precision and poor imaging precision of a laser radar component and FAC (collimation diameter), the main purpose of the utility model is to provide the AA equipment and the laser radar assembly mechanism of the full-automatic laser radar FAC, which can accurately adjust the assembly position and the assembly precision of the laser radar component and the FAC.
According to one aspect of the present utility model, there is provided an AA apparatus of a fully automatic lidar FAC, comprising:
a first position adjustment mechanism 100 provided with a first fixed position 11, and a laser radar 200 provided at the first fixed position 11;
a light source emitter 600, the light source emitter 600 for emitting a first light beam propagating along a first path;
the second position adjusting mechanism 300 is provided with a second fixed position 31, the FAC 400 is arranged at the second fixed position 31, and the second position adjusting mechanism 300 is used for adjusting the position of the FAC 400 relative to the laser radar 200 so that the first light beam passes through the FAC 400 and then is transmitted to the laser radar 200 to form a second light beam propagating along a second path;
an imaging detection mechanism 500 for receiving the second light beam, the imaging detection mechanism 500 being for detecting an imaging position of the second light beam.
Referring to fig. 1 to 4, the full-automatic lidar 200FAC 400aa apparatus includes a first position adjustment mechanism 100, a second position adjustment mechanism 300, and an imaging detection mechanism 500, wherein the position of the lidar 200 is fixed and adjusted by the first position adjustment mechanism 100, the position of the FAC 400 relative to the lidar 200 is adjusted by the second position assembly, the imaging position of the second beam is detected by the formed second beam and by the imaging detection mechanism 500, after a preset position is satisfied, the assembly is performed, and if the preset position is not satisfied, the position between the lidar 200 and the FAC 400 is adjusted by the first position adjustment mechanism 100 or the second position adjustment mechanism 300 until the preset position is satisfied. Compared with the prior art, the position accuracy between the laser radar 200 and the FAC 400 can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.
In one example of the present utility model, when the position of the lidar 200 needs to be adjusted, the position of the second position adjustment mechanism 300 is kept unchanged, that is, the position and angle of the FAC 400 are not changed, and the first position adjustment mechanism 100 adjusts the position of the first fixed bit 11, so as to change the path and the relative angle of the second beam after passing through the lidar 200, that is, change the deflection angle between the second path and the first path.
When the second light beam changes in position, the second light beam is fed back to the imaging detection mechanism 500 in real time, and the state of the first position adjustment mechanism 100 is controlled by the detection comparison result of the imaging detection mechanism 500, so that the position of the first fixed bit 11 is changed by the first position adjustment mechanism 100.
In another example of the present utility model, when the position of the FAC 400 needs to be adjusted, the position of the first position adjusting mechanism 100 is kept unchanged, that is, the position and angle of the laser radar 200 are not changed, and the second position adjusting mechanism 300 adjusts the position of the second fixed bit 31, so as to change the path and relative angle of the first beam propagating through the optical path of the first beam entering the FAC 400, and further affect the path and angle of the light propagating through the FAC 400 to the laser radar 200, that is, affect the path and angle of the second beam formed after the light passes through the laser radar 200.
In the above embodiment, after the propagation path and the relative angle of the optical path are changed, the spot position information and the image information formed in the imaging detection mechanism 500 by the second light beam are finally affected, the imaging detection mechanism 500 detects the spot position and the image information of the spot in real time, compares the detected spot position and the detected spot image information with the preset position and the preset image information, and if the detected spot position and the detected spot image information are in accordance with the preset position and the preset image, determines that the positions of the FAC 400 and the laser radar 200 part at the moment are in accordance with the standard, and then performs assembly between the FAC 400 and the laser radar 200 part.
In the process of position adjustment, in order to avoid that other variables influence the final path of light path propagation, besides the positions of the FAC 400 and the laser radar 200 can be flexibly adjusted, the positions of the light source emitter 600 and the imaging detection mechanism 500 are kept relatively fixed, that is, the positions of the light source emitter 600 and the imaging detection mechanism 500 can be set to be standard positions, and the positions of the light source emitter 600 and the imaging detection mechanism 500 are not changed during assembly between the laser radar 200 parts for assembling the FAC 400, so that the light spot formation precision is improved, the detection precision is improved, and the qualification rate of the final assembly of the FAC 400 and the laser radar 200 parts is improved.
Referring to fig. 4, according to an embodiment of the present utility model, the FAC 400 is a collimator, the imaging detection mechanism 500 includes a reflecting prism 51 and an image capturing device 52, the second light beam passes through the reflecting prism 51 to form a third light beam transmitted along a second path, and the image capturing device 52 is configured to receive an imaging position of the third light beam.
The first light beam emitted by the light source emitter 600 and propagating along the first path is focused by the collimating mirror and then continuously propagates to the reflecting prism 51 along the first path, in one example of the present utility model, the reflecting prism 51 is a triple prism, loss in the light beam propagation process is reduced by the reflecting prism 51, and after passing through the second light beam, a third path transmitted along the second path is formed by reflecting the second light beam by the reflecting prism 51, and after sequentially changing the propagation path of the light, the position of the image acquisition device 52 is conveniently adjusted, so that the whole volume is reduced.
Referring to fig. 1, a first included angle is formed between the second light beam and the third light beam, and the angle of the first included angle is 90 °, so that after passing through the reflecting prism 51, the volume occupied by the device can be effectively reduced, and the optical path is reasonably arranged and laid out.
According to an embodiment of the present utility model, the image capturing device 52 is a laser macro, and the accuracy and definition of capturing the image are improved by the active focusing function of the laser macro.
During practical use, the spot shape of the collected third light beam can be analyzed according to the focusing mode and the focusing data, and the working states of the first position adjusting mechanism 100 and the second position adjusting mechanism 300 can be adjusted according to the analysis and comparison result, so as to adjust the relative position relationship between the laser radar 200 and the FAC 400, and improve the integral assembly precision of the assembled product of the laser radar 200 and the FAC 400.
According to an embodiment of the present utility model, the first position adjusting mechanism 100 further includes a third fixed position 12, the light source emitter 600 is disposed on the third fixed position 12, and the light source emitter 600 emits the first light beam along the propagation direction of the first light beam, which passes through the second fixed position 31, the first fixed position 11 and the reflecting prism 51 in sequence.
An operation table may be disposed, the light source emitter 600 is disposed at the third fixing location 12, the position of the reflecting prism 51 is fixed relative to the operation table, the light source emitter 600 emits the first light beam to the reflecting prism 51 along the third fixing location 12, and the light source emitter 600 emits the first light beam to pass through the second fixing location 31, the first fixing location 11 and the reflecting prism 51 in sequence along the propagation direction of the first light beam emitted by the light source emitter 600. Furthermore, the first light beam is made to pass through the FAC 400 to improve the definition of the light beam, and then passes through the laser radar 200 assembly to reduce the loss of the light beam, and the second light beam is made to be formed to improve the detection accuracy of the imaging detection mechanism 500, and the position and angle between the first fixing position 11 and the second fixing position 31 are adjusted in real time according to the detection result.
According to an embodiment of the present utility model, the first position adjustment mechanism 100 includes a first three-coordinate adjustment mechanism 13, the first fixed bit 11 is disposed on the first three-coordinate adjustment mechanism 13, and the first three-coordinate adjustment mechanism 13 is used for adjusting the position of the first fixed bit 11 in the X-axis, the Y-axis, and the Z-axis.
As an example, the first fixing position 11 may be set by a fixing jig, and the position of the laser radar 200 in the first fixing position 11 may be adjusted by a three-axis electric push rod of the X-axis, the Y-axis and the Z-axis, and the first position adjusting mechanism 100 may be electrically connected to the controller and the processor to control the working states of the X-axis, the Y-axis and the Z-axis electric cylinders in the first three-coordinate adjusting mechanism 13.
Referring to fig. 3, according to an embodiment of the present utility model, the second position adjusting mechanism 300 includes a second three-coordinate adjusting mechanism 32 and an angle adjusting mechanism 33, the angle adjusting mechanism 33 is disposed on the second three-coordinate adjusting mechanism 32, the second fixed position 31 is disposed on the angle adjusting mechanism 33, the second three-coordinate adjusting mechanism 32 is used for adjusting the position of the angle adjusting mechanism 33 on the X-axis, the Y-axis and the Z-axis, and the angle adjusting mechanism 33 is used for adjusting the inclination angle of the second fixed position 31 relative to the X-axis, the Y-axis and the Z-axis, wherein the first three-coordinate adjusting mechanism 13 and the second three-coordinate adjusting mechanism 32 share a three-coordinate system.
The second three-coordinate adjusting mechanism 32 can adjust the position of the angle adjusting mechanism 33 in the three-coordinate system, and the angle adjusting mechanism 33 can adjust the angle of the FAC 400 in the three-coordinate system, so that the position of the FAC 400 relative to the laser radar 200 can be adjusted conveniently according to the position of the light spot on the receiving target surface.
The angle adjusting mechanism 33 can control the propagation light path of the second light beam, that is, the propagation direction of the second light beam, so as to influence the position of the light spot on the imaging detection device, and the position of the FAC 400 relative to the laser radar 200 can be adjusted by trial and error according to the position of the light spot.
As an example, a jaw assembly 10 may be provided, by which the FAC 400 is moved to the second fixture 31 to improve assembly efficiency.
The full-automatic laser radar 200FAC 400AA device and the laser radar 200 assembly mechanism further comprise a control component, wherein the control component is electrically connected with the clamping jaw component 10, the control component can be used for detecting the state information of the FAC 400 on the second fixed position 31, and the clamping jaw component 10 is controlled to take the FAC 400 to the second fixed position 31 after the assembly is detected.
Lidar 200 and FAC 400 may also be fed or blanked by jaw assembly 10.
According to an embodiment of the present utility model, the image sensor further includes a control assembly (not shown), the control assembly includes a controller (not shown) and a processor (not shown), the controller is electrically connected to the first position adjustment mechanism 100, the second position adjustment mechanism 300 and the image detection mechanism 500 to control the on-off states of the first position adjustment mechanism 100, the second position adjustment mechanism 300 and the image detection mechanism 500; the processor is electrically connected to the controller, and is configured to receive the imaging position signal obtained by the imaging detection mechanism 500, and the processor is configured to determine the imaging position signal, so that the controller adjusts the on-off states of the first position adjustment mechanism 100, the second position adjustment mechanism 300, and the imaging detection mechanism 500.
Imaging data of the imaging detection mechanism 500 are sorted and compared through the controller and the processor, and the starting and stopping of the first position adjustment mechanism 100 and the second position adjustment mechanism 300 are controlled according to the comparison result, so that the relative positions between the laser radar 200 and the FAC 400 are checked, and the assembly precision of the laser radar 200 parts and the FAC 400 is improved.
According to another aspect of the present utility model, there is provided a laser radar 200 assembly mechanism including the above-described full-automatic laser radar 200FAC 400aa apparatus.
Referring to fig. 5, according to an embodiment of the present utility model, the laser radar device further includes a control assembly and a dispensing mechanism 700, wherein the dispensing mechanism 700 is connected to the controller assembly, and the dispensing mechanism 700 is used for assembling the FAC 400 on the laser radar 200. The laser radar 200 parts calibrated by the automatic calibration mechanism and the FAC 400 are subjected to dispensing through the dispensing mechanism 700, UV curing treatment is further carried out, and then the assembly of the laser radar 200 parts is completed, and the assembly precision is improved through the automatic calibration mechanism and the precision of base+FAC400 products is improved.
Referring to fig. 6, the laser radar 200 assembly mechanism further includes a clamping jaw assembly 10, and the FAC 400 is fed through the clamping jaw assembly 10, so as to improve assembly accuracy.
It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. AA apparatus of a fully automatic lidar FAC, comprising:
a first position adjustment mechanism (100) provided with a first fixed position (11), and a laser radar (200) provided at the first fixed position (11);
a light source emitter (600), the light source emitter (600) for emitting a first light beam propagating along a first path;
the second position adjusting mechanism (300) is provided with a second fixed position (31), the FAC (400) is arranged at the second fixed position (31), and the second position adjusting mechanism (300) is used for adjusting the position of the FAC (400) relative to the laser radar (200) so that the first light beam passes through the FAC (400) and then is transmitted to the laser radar (200) to form a second light beam which propagates along a second path;
an imaging detection mechanism (500) for receiving the second light beam, the imaging detection mechanism (500) being for detecting an imaging position of the second light beam.
2. AA apparatus according to claim 1, wherein the imaging detection means (500) comprise a reflecting prism (51) and an image acquisition device (52), the second light beam passing through the reflecting prism (51) to form a third light beam passing along a second path, the image acquisition device (52) being adapted to receive the imaging position of the third light beam.
3. AA apparatus for fully automatic lidar FAC according to claim 2, wherein the second beam and the third beam have a first angle therebetween, the first angle being 90 °.
4. AA arrangement for a fully automatic lidar FAC according to claim 2, characterized in that the image acquisition device (52) is a laser range finder.
5. AA apparatus for fully automatic lidar FAC according to claim 2, wherein the first position adjustment mechanism (100) further comprises a third working position, wherein the light source emitter (600) is arranged at a third fixed position (12), and wherein the light source emitter (600) emits a first light beam in a propagation direction through the second fixed position (31), the first fixed position (11) and the reflecting prism (51) in sequence.
6. AA apparatus for fully automatic lidar FAC according to claim 1, wherein the first position adjustment mechanism (100) comprises a first three-coordinate adjustment mechanism (13), the first fixed position (11) being arranged on the first three-coordinate adjustment mechanism (13), the first three-coordinate adjustment mechanism (13) being adapted to adjust the position of the first fixed position (11) in the X-axis, the Y-axis and the Z-axis.
7. AA apparatus according to claim 6, wherein the second position adjustment mechanism (300) comprises a second three-coordinate adjustment mechanism (32) and an angle adjustment mechanism (33), the angle adjustment mechanism (33) being arranged on the second three-coordinate adjustment mechanism (32), the second fixed position (31) being arranged on the angle adjustment mechanism (33), the second three-coordinate adjustment mechanism (32) being adapted to adjust the position of the angle adjustment mechanism (33) on the X-axis, the Y-axis and the Z-axis, the angle adjustment mechanism (33) being adapted to adjust the tilt angle of the second fixed position (31) with respect to the X-axis, the Y-axis and the Z-axis, wherein the first three-coordinate adjustment mechanism (13) and the second three-coordinate adjustment mechanism (32) share a three-coordinate system.
8. The AA apparatus of a fully automated lidar FAC of claim 1, further comprising:
the controller is electrically connected with the first position adjusting mechanism (100), the second position adjusting mechanism (300) and the imaging detection mechanism (500) to control the start-stop states of the first position adjusting mechanism (100), the second position adjusting mechanism (300) and the imaging detection mechanism (500);
the processor is electrically connected with the controller, and is used for receiving imaging position signals acquired by the imaging detection mechanism (500), and the processor is used for judging and processing the imaging position signals so as to enable the first position adjustment mechanism (100), the second position adjustment mechanism (300) and the imaging detection mechanism (500) to be adjusted to be started or stopped by the controller.
9. A lidar assembly mechanism comprising the AA device of a fully automated lidar FAC of any of claims 1-8.
10. The lidar assembly mechanism of claim 9, further comprising a control assembly and a dispensing mechanism (700), the dispensing mechanism (700) being electrically connected to the control assembly, the dispensing mechanism (700) being configured to assemble the FAC (400) to the lidar (200).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320701642.9U CN220105280U (en) | 2023-03-28 | 2023-03-28 | AA equipment and laser radar equipment mechanism of full-automatic laser radar FAC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320701642.9U CN220105280U (en) | 2023-03-28 | 2023-03-28 | AA equipment and laser radar equipment mechanism of full-automatic laser radar FAC |
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| Publication Number | Publication Date |
|---|---|
| CN220105280U true CN220105280U (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320701642.9U Active CN220105280U (en) | 2023-03-28 | 2023-03-28 | AA equipment and laser radar equipment mechanism of full-automatic laser radar FAC |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220105280U (en) |
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2023
- 2023-03-28 CN CN202320701642.9U patent/CN220105280U/en active Active
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