CN111398987B - Multi-line laser radar device and counterweight method thereof - Google Patents
Multi-line laser radar device and counterweight method thereof Download PDFInfo
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- CN111398987B CN111398987B CN201811617465.6A CN201811617465A CN111398987B CN 111398987 B CN111398987 B CN 111398987B CN 201811617465 A CN201811617465 A CN 201811617465A CN 111398987 B CN111398987 B CN 111398987B
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Abstract
A multi-line lidar device and a method of weighting the same, wherein the method of weighting comprises: respectively arranging a plurality of rough weight pieces on a first weight platform and a second weight platform to roughly weight the multi-line laser radar, wherein the first weight platform is positioned at a light end part of the multi-line laser radar device, and the light end part is provided with a heavy end part of a lens component relative to the multi-line laser radar device; based on a position parameter and a weight parameter of a dynamic balance parameter, a plurality of fine weights are respectively arranged in the areas corresponding to the heavy end parts of the first weight platform and the second weight platform. Thus, the multi-line laser radar device can be rapidly and accurately subjected to weight balancing operation, so that the production efficiency of the multi-line laser radar is improved.
Description
Technical Field
The application relates to the field of laser radars, in particular to a multi-line laser radar device and a weighting method thereof.
Background
With the further popularization and application of unmanned technology, the development of an unmanned industrial chain is driven, and the importance of the laser radar as a main stream sensor in unmanned is continuously improved. The laser radar is used for 3D modeling of the surrounding environment of the vehicle in unmanned technology, and plays a key role in obtaining depth information of the environment, identifying obstacles, confirming a drivable area and the like.
Currently, lidars are largely classified into mechanically scanned lidars and solid-state lidars. The technology of solid-state lidar is not mature, and mechanical multi-line lidar is the dominant technology in the current market. However, mechanical multi-line lidar still has some drawbacks, which prevent further development of the mechanical multi-line lidar.
Because the weight of the internal structure of the mechanical multi-line laser radar is unbalanced, the gravity center of the multi-line laser radar is not positioned on the rotation axis. However, the mechanical multi-line lidar rotates along with the working process, and when the gravity center and the rotation axis of the multi-line lidar are not coincident, the internal rotor is not completely symmetrical, so that the phenomenon of unbalance of the rotor is caused. The rotor is an important component of a mechanical multi-line lidar, and imbalance of the rotor will cause the rotor to generate centrifugal force during rotation, which can cause vibration and noise of the device. Meanwhile, unbalance of the rotor can accelerate abrasion of the bearing, so that internal parts of the device are damaged, and the service life of the mechanical multi-line laser radar is shortened.
The existing weighting scheme of the mechanical multi-line laser radar is to set a plurality of weighting points around a rotation axis. However, this type of weighting does not take into account the internal structure of the mechanical multi-line lidar, so that no targeted weighting operation can be performed. This results in lower weight efficiency and lower production efficiency of the mechanical multi-line lidar.
Accordingly, there is a need to provide a targeted weight scheme for achieving dynamic balance of a rotor of a mechanical multi-line lidar to reduce and eliminate centrifugal force generated by the rotor during rotation and to improve weight efficiency and production efficiency.
Disclosure of Invention
An object of the present application is to provide a multi-line laser radar device and a weighting method thereof, wherein the weighting method of the multi-line laser radar device can perform targeted weighting operation on an internal structure of the multi-line laser radar so as to improve weighting efficiency.
Another object of the present application is to provide a multi-line laser radar device and a method for balancing the multi-line laser radar device, wherein the method for balancing the multi-line laser radar device can quickly and accurately balance the multi-line laser radar device, so as to reduce and eliminate centrifugal force generated by a rotor of the multi-line laser radar in a rotating process, thereby prolonging the service life of the multi-line laser radar.
Another object of the present application is to provide a multi-line laser radar device and a balancing method thereof, wherein the balancing method of the multi-line laser radar device realizes quick and accurate balancing of the multi-line laser radar device through one-time low-precision balancing and one-time high-precision balancing, so as to reduce the time for adjusting the dynamic balance of a rotor of the multi-line laser radar and simplify the adjusting process, thereby improving the production efficiency.
Another object of the present application is to provide a multi-line laser radar device and a balancing method thereof, wherein the balancing method of the multi-line laser radar device can perform balancing and adjustment in a plurality of areas of the multi-line laser radar device, and perform balancing and adjustment by adopting a plurality of balancing materials, so that the adjustment accuracy of dynamic balance of a rotor of the multi-line laser radar is improved.
Another object of the present application is to provide a multi-line lidar device and a method of weighting the same, wherein a weighting region of the multi-line lidar device is disposed at a specific location so as to perform a weighting operation on the multi-line lidar device.
Another object of the present application is to provide a multi-line lidar device and a method for weighting the same, wherein the multi-line lidar device has a set of weight cavities, wherein the set of weight members, wherein the shape and size of the weight members are matched with the multi-line lidar device, thereby reducing the influence of the weight on the overall structure of the multi-line lidar device.
Another object of the present application is to provide a multi-line laser radar apparatus and a method for balancing the same, wherein a balancing area of the multi-line laser radar apparatus has a simple structure, thereby reducing manufacturing costs.
Another object of the present application is to provide a multi-line lidar device and a method of weighting the same, wherein no expensive materials and complex structures are required in the present application to achieve the above object. Thus, the present application provides a cost effective solution to improve the service life and operating efficiency of multi-line lidar.
In order to achieve at least one of the above objects, the present application provides a multi-line lidar device comprising:
a power system, the power system having an axis of rotation;
a rotating platform supported by and coaxially disposed with the power system, wherein the power system is configured to drive the rotating platform to rotate about the rotation axis;
an optical system supported by and coaxially disposed with the rotary stage, wherein the optical system rotates about the rotation axis to perform scanning when the rotary stage is driven to rotate, wherein the optical system comprises a lens assembly having a heavy end at one end thereof and a light end at an end thereof opposite to the heavy end, and
a counterweight assembly, wherein the counterweight assembly comprises a plurality of counterweight members, wherein the plurality of counterweight members are selectively provided to the light end of the optical system based on a dynamic balance parameter of the multi-line lidar, and the rotating platform in such a manner that a center of gravity of the multi-line lidar device is located on the rotation axis.
In one embodiment of the present application, the weight assembly includes a first weight platform formed on top of the optical system at a light end of the optical system, and a second weight platform formed on the rotating platform.
In one embodiment of the present application, the weight member includes a plurality of coarse weight members and a plurality of fine weight members, wherein the weight of each coarse weight member is greater than the weight of each fine weight member, and wherein the coarse weight members and the fine weight members are respectively disposed on the first weight platform and the second weight platform in a divided manner.
In one embodiment of the present application, the weight assembly comprises a plurality of weight cavities for receiving the weights based on the dynamic balance parameters, wherein the weight cavities comprise a plurality of coarse weight cavities and a plurality of fine weight cavities, wherein the coarse weight cavities are provided in the first weight platform and in the second weight platform in an area corresponding to the light end of the optical system, wherein the fine weight cavities are provided in the first weight platform and in the second weight platform in an area corresponding to the heavy end of the optical system.
In one embodiment of the present application, the fine weight cavity and the coarse weight cavity are provided in a region proximate to an outer edge of the first weight platform and the second weight platform, respectively.
In one embodiment of the present application, the dynamic balance parameter includes a position parameter and a weight parameter, and when the fine balance weight is performed, the fine balance weight matched with the weight parameter is accommodated in the balance weight cavity located in the area matched with the position parameter.
In one embodiment of the present application, the weight cavity further includes a combined weight cavity provided to the first weight platform for receiving the coarse weight and the fine weight simultaneously.
In one embodiment of the present application, the coarse weight cavities include a set of first coarse weight cavities and a set of second coarse weight cavities, wherein a set of the first coarse weight cavities is provided to the first weight platform, a set of the second coarse weight cavities is provided to a region of the second weight platform corresponding to the light end of the optical system, and when the multi-line laser radar is coarse weighted, a plurality of coarse weight pieces are respectively accommodated in each of the first coarse weight cavities and each of the second coarse weight cavities and the combined weight cavity, wherein a plurality of the fine weight cavities include a set of first fine weight cavities and a set of second fine weight cavities, wherein a set of the first fine weight cavities is provided to the first weight platform, and a set of the second fine weight cavities is provided to a region of the second weight platform corresponding to the heavy end of the optical system, and when the multi-line laser radar is fine weighted, the fine weight pieces are respectively accommodated in each of the first fine weight cavities and the second fine weight cavities based on the position parameters and the weight parameters.
In one embodiment of the present application, the coarse weight includes a set of first coarse weights, a second coarse weight, and a set of third coarse weights, when coarse weights are performed, each of the first coarse weights is respectively received in each of the first coarse weights, the second coarse weights are received in the combined weights, each of the third coarse weights is respectively received in each of the second coarse weights, wherein the fine weights include a set of first fine weights, a second fine weight, and a third fine weight, when fine weights are performed, each of the first fine weights is respectively received in each of the first fine weights, the second fine weights is received in the combined weights, and the third fine weights are received in the second fine weights based on the position parameters and the weight parameters.
In one embodiment of the present application, each of the first coarse weight cavities is a cylindrical cavity, each of the second coarse weight cavities is an annular-like cavity, each of the combined weight cavities is a cube-like cavity, wherein each of the first fine weight cavities is a threaded cylindrical cavity, and the second fine weight cavities is an annular-like cavity
According to another aspect of the present application, there is further provided a method for weighting a multi-line lidar device, for weighting the multi-line lidar device, comprising:
respectively arranging a plurality of rough weight pieces on a first weight platform and a second weight platform to roughly weight the multi-line laser radar, wherein the first weight platform is positioned at a light end part of the multi-line laser radar device, and the light end part is provided with a heavy end part of a lens component relative to the multi-line laser radar device;
based on a position parameter and a weight parameter of a dynamic balance parameter, a plurality of fine weights are respectively arranged in the areas corresponding to the heavy end parts of the first weight platform and the second weight platform.
In one embodiment of the present application, a plurality of coarse weights are respectively disposed on a first weight platform and a second weight platform to perform coarse weight on the multi-line laser radar, wherein the first weight platform is located at a light end portion of the multi-line laser radar device, and wherein the light end portion is provided with a heavy end portion of a lens assembly relative to the multi-line laser radar device, and the method comprises the following steps:
a set of first coarse weight pieces of the coarse weight pieces are respectively accommodated in a set of first coarse weight cavities of the weight cavities;
a second coarse weight of the coarse weight is accommodated in a combined weight cavity of the weight cavity; and
the set of third coarse weight pieces of the coarse weight pieces are respectively accommodated in the set of second coarse weight cavities of the coarse weight cavities.
In one embodiment of the present application, the step of locating a plurality of fine weights in the first weight platform and the second weight platform, respectively, corresponding to the heavy end regions based on a position parameter and a weight parameter of a dynamic balance parameter, includes:
a group of first fine weights of the fine weights are respectively accommodated in a group of first fine weight cavities of the weight cavities;
a second fine weight part of the fine weight parts is accommodated in the combined weight cavity; and
further objects and advantages of the present application will become fully apparent from the ensuing description and the accompanying drawings, wherein a third one of said fine weights is received in a second one of said weight chambers.
These and other objects, features, and advantages of the present application will become more fully apparent from the following detailed description, the accompanying drawings, and the appended claims.
Drawings
Fig. 1 is a schematic perspective view of a multi-line lidar device according to a preferred embodiment of the present application.
Fig. 2 is a schematic perspective view of an optical system and counterweight assembly of a multi-line lidar device according to a preferred embodiment of the application.
FIG. 3 is a schematic diagram of a counterweight assembly of a multi-line lidar device according to a preferred embodiment of the application
Fig. 4 is a block diagram schematic diagram of a method of weighting a multi-line lidar device according to a preferred embodiment of the present application.
FIG. 5 is a block diagram schematic illustration of a method of weighting a multi-line lidar device according to a preferred embodiment of the present application
Fig. 6 is a block diagram schematic diagram of a method of weighting a multi-line lidar device according to a preferred embodiment of the present application.
Detailed Description
The following description is presented to enable any person skilled in the art to make and use the application. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art. The basic principles of the present application defined in the following description may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the present application.
It will be appreciated by those skilled in the art that in the present disclosure, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc. refer to an orientation or positional relationship based on that shown in the drawings, which is merely for convenience of description and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore the above terms should not be construed as limiting the present application.
It will be understood that the terms "a" and "an" should be interpreted as referring to "at least one" or "one or more," i.e., in one embodiment, the number of elements may be one, while in another embodiment, the number of elements may be plural, and the term "a" should not be interpreted as limiting the number.
In this application, the terms "a" and "an" in the claims and specification should be understood as "one or more", i.e., in one embodiment, the number of one element may be one, and in another embodiment, the number of the element may be plural. The terms "a" and "an" are not to be construed as unique or singular, and the term "the" and "the" are not to be construed as limiting the amount of such elements unless the amount of such elements is specifically indicated as being exclusive in the disclosure of this application.
In the description of the present application, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the present application, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" should be interpreted broadly, for example, as a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; may be directly connected or indirectly connected through a medium. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
As described above, in the production process of the multi-line lidar device, an imbalance problem often occurs. The two ends of the multi-line laser radar taking the rotation axis as the center have different weights, namely, one end of the multi-line laser radar device provided with the lens is heavier, so that the gravity center of the rotor of the multi-line laser radar is separated from the rotation axis. This will result in a more severe wear of the components of the power system during rotation of the multi-line lidar, thereby reducing the service life of the multi-line lidar device and increasing its cost of use. However, the multi-line lidar currently on the market needs to overcome some difficulties in the counterweight process. The main aspects are as follows: firstly, aiming at an unbalanced structure of the multi-line laser radar device, a targeted weighting scheme needs to be provided, and the structure of the multi-line laser radar is limited by the functions of the multi-line laser radar device, and the position and the structure of the multi-line laser radar device, which can be used for weighting, are limited, so that in actual production, the selection of a weighting area and the shape of a weighting material can influence the original structure of the multi-line laser radar device; secondly, the requirement on the weight balancing precision of the multi-line laser radar is higher, dynamic balance equipment is needed to be matched, and a dynamic balance test is carried out on the rotor of the multi-line laser radar after each weight balancing operation, so that the weight balancing process is complicated, and the production speed and the production efficiency of the multi-line laser radar are reduced; finally, there are multiple unbalanced positions of the rotor of the multi-lidar, and new unbalanced positions may be generated in the process of balancing the weight, so that a single weight area and weight material are difficult to meet high-precision weight, and multiple weight areas and multiple types of weight materials are required to be coordinated together, which also adds difficulty to the weight. In order to improve the problems, the application provides a multi-line laser radar device and a weighting method thereof.
As shown in fig. 1, a schematic perspective view of a multi-line lidar device according to a preferred embodiment of the present application is illustrated. The multi-line lidar device 100 includes: an optical system 10, a power system 20, a rotating platform 30 and a counterweight assembly 40, wherein the power system 20 has a rotational axis 201, wherein the rotating platform 30 is supported by the power system 20, wherein the optical system 10 is supported by the rotating platform 30. The optical system 10, the power system 20 and the rotating platform 30 are coaxially disposed about the rotation axis 201, wherein the rotating platform 30 is disposed between the power system 20 and the optical system 10, and the optical system 10 rotates about the rotation axis 201 to perform scanning when the rotating platform 30 is driven to rotate.
As shown in fig. 1 to 3, the optical system 10 has a lens assembly 11, a heavy end 12 and a light end 13, wherein the heavy end 12 is disposed at a position corresponding to the lens assembly 11, and the heavy end 12 and the light end 13 are axisymmetric about the rotation axis 201.
As described above, during production, the optical system 10 is heavier than the light end portion 13 due to the limitation of its own structure, that is, the weight of the lens assembly 11, resulting in the heavy end portion 12 of the optical system 10 being heavier than the light end portion 13, thereby resulting in the center of gravity of the optical system 10 and the power system 20 being deviated from the rotation axis 201, which is also a cause of unbalance of the power system 20 and serious wear of the internal elements of the multi-line laser radar apparatus 100. Thus, a targeted weighting operation is required for the unbalance of the optical system 10.
The weight assembly 40 is coaxially disposed with the optical system 10, the power system 20 and the rotating platform 30, wherein the weight assembly includes a set of coarse weights 41 and a set of fine weights 42 for adjusting the center of gravity position of the multi-line lidar 100 by increasing the weight of the optical system 10 and the power system 20. The weight assembly 40 has a plurality of weight chambers 43, wherein the weight members 41 are accommodated in the weight chambers 43 to primarily adjust the center of gravity of the multi-line lidar 100 when performing the rough weight; when performing fine weighting, the fine weighting member 42 is accommodated in the weighting chamber 43 based on a dynamic balance parameter, so that the center of gravity of the multi-line lidar device 100 is located at the rotation axis 201.
In other words, the center of gravity position of the multi-line lidar device 100 may be roughly adjusted by the coarse weight 41, and then the center of gravity position of the multi-line lidar device 100 may be precisely adjusted by the fine weight 42 based on the dynamic balance parameter, wherein the weight of the coarse weight 41 is large relative to the weight of the fine weight 42, and thus, by applying the coarse weight 41, the number of times of adjustment of the fine weight 42 may be reduced, thereby improving the weight efficiency of the multi-line lidar device 100.
As described above, in the conventional weighting scheme, a circle of weighting points is set around the rotation axis, and then the weighting blocks are set at the weighting points to perform weighting, however, the internal structure of the multi-line lidar, that is, the root cause of the center of gravity shift, is not considered in this weighting scheme, because of the weight of the lens. Thus, after each balancing, the dynamic balance of the power system 20 is tested, so that the dynamic balance parameter is used for balancing the multi-line laser radar 100, and the repeated test process is complicated.
Preferably, the multi-line lidar device 100 may be weighted rapidly and accurately by performing coarse and fine weighting operations, respectively, and the center of gravity of the multi-line lidar device 100 may be adjusted rapidly so that the center of gravity of the multi-line lidar device 100 is located at the rotation axis 201, thereby reducing wear of the multi-line lidar device 100 during rotation. Further, by performing a targeted weighting operation on the heavy end 12 and the light end 13 with respect to the lens assembly 11, the weighting efficiency can be further improved.
As shown in fig. 2, a schematic diagram of an optical system and a counterweight assembly of a multi-line lidar device according to a preferred embodiment of the application is illustrated. The weight assembly 40 includes a first weight platform 44, wherein the first weight platform 44 is disposed on the top of the optical system 10 in the area of the light end 13 of the optical system 10, and the weight cavity 43 is disposed on the first weight platform 44, and when the optical system 10 is subjected to the weight operation, the coarse weight 41 and the fine weight 42 are respectively accommodated in the weight cavity 43, so as to increase the weight of the light end 13 of the optical system 10, thereby adjusting the gravity center position of the laser radar device 100.
The weight chambers 43 include a plurality of thick weight chambers 431 for receiving the thick weight 41, a plurality of fine weight chambers 432 for receiving the fine weight 42, and a combined weight chamber 433 for receiving both the thick weight 41 and the fine weight 42. The rough weight chamber 431 further includes a set of first rough weight chambers 4311 formed in the first weight platform 44. The fine balance weight cavity 432 further includes a set of first fine balance weight cavities 4321 formed in the first balance weight platform 44, wherein a set of the first coarse balance weight cavities 4311, a set of the first fine balance weight cavities 4321 and the combined balance weight cavity 433 are located at the light end 13 of the optical system 10.
The coarse weight 41 further comprises a set of first coarse weights 411 and a second coarse weight 412, wherein each of the first coarse weights 411 is shaped and sized to match each of the first coarse weight chambers 4311, and wherein the second coarse weight 412 is shaped and sized to match the combined weight chamber 433.
In one possible implementation of this embodiment, a set of the first coarse-weight cavities 4311 are implemented as cylindrical cavities, formed on either side of the light end 13 of the optical system 10. Correspondingly, the first thick weight 411 is implemented as a cylindrical weight with a predetermined weight. The second coarse weight 412 is embodied as a cube for being received in the combined weight chamber 433. When the multi-line lidar device 100 is roughly weighted, a set of the first rough weights 411 are respectively received in a set of the first rough weight chambers 4311, and the second rough weights 412 are received in the combined weight chamber 433, so as to primarily increase the weight of the light end portion 13 of the optical system 10.
The fine balance weight chamber 432 includes a set of first fine balance weight chambers 4321 disposed in the first balance weight platform 44 in a region surrounding the first coarse balance weight chamber 4311 and the combined balance weight chamber 433. The fine weight 42 includes a set of first fine weight 421 and a second fine weight 422, wherein the set of first fine weight 421 is respectively received in the set of first fine weight chambers 4321, and the second fine weight 422 is received in the combined weight chamber 433 for being matched with the second coarse weight 412.
In one possible implementation of this embodiment, a set of the first fine weight cavities 4321 are implemented as a set of helical cavities, and correspondingly, a set of the first fine weight pieces 421 are implemented as a set of weight nuts, wherein the second fine weight pieces 422 are implemented as weight cement. The dynamic balance parameter comprises a position parameter and a weight parameter. Those skilled in the art will appreciate that there are numerous ways of obtaining the weight parameter and the position parameter, and the invention is not limited herein.
When the first counterweight platform 44 performs a fine counterweight operation, the dynamic balance parameter is acquired first, wherein a set of the first fine counterweight 421 is respectively received in a set of the first fine counterweight chambers 4321 based on the position parameter and the weight parameter of the dynamic balance parameter, and the second fine counterweight 422 is received in the combined counterweight chamber 433, wherein the receiving position of the first fine counterweight 421 corresponds to the position parameter, and the weights of the first fine counterweight 421 and the second fine counterweight 422 correspond to the weight parameter.
In other words, when the first counterweight platform 44 is finely weighted, the dynamic balance parameter may be obtained first to obtain the unbalanced position of the first counterweight platform 44 and the weight required for the counterweight, and based on the dynamic balance parameter, the first fine counterweight 421 with the corresponding weight is accommodated in the first fine counterweight chamber 4321 with the corresponding position, so that the center of gravity of the multi-line laser radar apparatus 100 is located at the rotation axis 201.
In a possible implementation of the present embodiment, a set of the first fine weight cavities 4321 and a set of the first coarse weight cavities 4311 are provided at a position close to the outer edge of the first weight platform 44, i.e. a position away from the rotation axis 201. It will be appreciated by those skilled in the art that the further the coarse weight 41 and the fine weight 42 are from the rotational axis 201, the greater the centrifugal force generated, and thus, locating one set of the first fine weight chambers 4321 and one set of the first coarse weight chambers 4311 at a position away from the rotational axis 201 may improve the weight efficiency.
It should be noted that the positions of the set of the first fine weight chamber 4321 and the set of the first coarse weight chamber 4311 and the combined weight chamber 433 are matched with the original structure of the top of the optical system 10. That is, a set of the first fine weight chamber 4321 and a set of the first coarse weight chamber 4311 and the combined weight chamber 433 have less influence on other structures of the multi-line laser radar apparatus 100, thereby reducing influence of a weight operation on other structures of the multi-line laser radar apparatus 100.
As shown in fig. 4, a perspective view of a rotating platform and counterweight assembly according to a preferred embodiment of the application is illustrated. The counterweight assembly 40 further includes a second counterweight platform 45 disposed on the rotating platform 30.
The rough weight chamber 431 further comprises a set of second rough weight chambers 4312, wherein a set of the second rough weight chambers 4312 are provided to the second weight platform 45, shaped like a ring, which is matched to the rotating platform 30, and wherein a set of the second rough weight chambers 4312 are provided to the light end 13 corresponding to the optical system 10. The fine balance weight chamber 432 further comprises a second fine balance weight chamber 4322, wherein the second fine balance weight chamber 4322 is disposed in the second balance weight platform 45 in a region opposite to the heavy end 12 of the optical system 10.
Correspondingly, the thick weight 41 further includes a set of third thick weight 413 having a predetermined weight, wherein each of the third thick weight 413 has a shape and a size matching each of the thick second thick weight chambers 4312. The fine weight member 42 further includes a third fine weight member 423 having a predetermined weight, wherein the third fine weight member 423 is shaped and sized to match the second fine weight chamber 4322.
In one possible implementation manner of the embodiment, when the multi-line laser radar device 100 is weighted, a set of the coarse weights 41 are respectively received in a set of the coarse weight chambers 431 located on the first weight platform 44 and the second weight platform 45 to increase the weight in the direction of the light end 13 of the optical system 10, and based on the acquired position parameters and the weight parameters, each of the first fine weights 421, the second fine weights 422 and the third fine weights 423 is respectively received in each of the first fine weight chamber 4321, the combined weight chamber 433 and the second fine weight chamber 4322 so that the center of gravity of the multi-line laser radar device 100 is located on the rotation axis 201.
As described above, there are a plurality of unbalanced positions of the multi-line lidar device 100, and a new unbalanced position may be generated every time one weight is added during the weight balancing operation, and thus a single weight in a single weight region cannot satisfy the weight with high accuracy.
Preferably, the multi-line laser radar device 100 provided in the present application provides a plurality of weight regions through the first weight platform 44 and the second weight platform 45, so as to flexibly adjust the weight of the multi-line laser radar device 100 relative to the two ends of the rotation axis 201, thereby adjusting the center of gravity of the multi-line laser radar device 100, and reducing abrasion.
Further, the coarse weighting chamber 431 and the fine weighting chamber 432 are disposed at predetermined positions, and are away from the rotation axis 201 without changing other structures of the multi-line laser radar apparatus 100, so that the weighting operation can be performed quickly and efficiently without affecting other functions of the multi-line laser radar apparatus 100.
It will be appreciated by those skilled in the art that the shape and size of the coarse weight cavity 431 and the fine weight cavity 432 are set according to the structure of the multi-line lidar device 100, and may be implemented as a column, a cube, a sphere, or other shapes capable of realizing a weight. The coarse weight 41 and the fine weight 42 may be set to various materials according to the multi-line lidar device 100, and the present invention is not limited thereto.
As shown in fig. 4 to 6, a block diagram schematic diagram of a weighting method of a multi-line lidar device according to a preferred embodiment of the present application is illustrated. The weighting method 200 of the multi-line laser radar device comprises the following steps: step 210: respectively arranging a plurality of rough weight pieces on a first weight platform and a second weight platform to roughly weight the multi-line laser radar, wherein the first weight platform is positioned at a light end part of the multi-line laser radar device, and the light end part is provided with a heavy end part of a lens component relative to the multi-line laser radar device; and
step 220: based on a position parameter and a weight parameter of a dynamic balance parameter, a plurality of fine weights are respectively arranged in the areas corresponding to the heavy end parts of the first weight platform and the second weight platform.
In one possible implementation of this embodiment, step 210: locating a plurality of thick counterweights respectively a first counter weight platform and a second counter weight platform to with just carrying out thick counter weight to multi-line laser radar, wherein, first counter weight platform is located multi-line laser radar device's a light tip, wherein, light tip for multi-line laser radar device is equipped with a heavy tip of a lens subassembly, includes:
step 211: a set of first coarse weight pieces of the coarse weight pieces are respectively accommodated in a set of first coarse weight cavities of the weight cavities;
step 212: a second coarse weight of the coarse weight is accommodated in a combined weight cavity of the weight cavity; and
step 213: the set of third coarse weight pieces of the coarse weight pieces are respectively accommodated in the set of second coarse weight cavities of the coarse weight cavities.
In one possible implementation of this embodiment, step 220: providing a plurality of fine weights to regions of the first and second weight platforms corresponding to the heavy ends, respectively, based on a position parameter and a weight parameter of a dynamic balance parameter, comprising:
step 221: a group of first fine weights of the fine weights are respectively accommodated in a group of first fine weight cavities of the weight cavities;
step 222: a second fine weight part of the fine weight parts is accommodated in the combined weight cavity; and
step 223: a third fine weight of the fine weight is received in a second fine weight of the weight chamber.
Preferably, through the coarse weighting operation and the fine weighting operation, the dynamic balance parameter of the multi-line laser radar apparatus 100 can quickly reach the preset threshold, so as to improve the production efficiency and the production speed of the multi-line laser radar apparatus 100.
Those skilled in the art will appreciate that the embodiments of the present application described above and shown in the drawings are by way of example only and not limitation. The objects of the present application have been fully and effectively achieved. The functional and structural principles of the present application have been shown and described in the examples and the embodiments of the present application are susceptible to any variations or modifications without departing from the principles.
Claims (10)
1. A multi-line lidar device, comprising:
a power system, the power system having an axis of rotation;
a rotating platform supported by and coaxially disposed with the power system, wherein the power system is configured to drive the rotating platform to rotate about the rotation axis;
an optical system supported by and coaxially disposed with the rotary stage, wherein the optical system is adapted to rotate about the rotational axis for scanning when the rotary stage is driven to rotate, wherein the optical system comprises lens assemblies centrally disposed at one end of the optical system, the lens assemblies at one end forming a heavy end of the optical system, an end opposite the heavy end forming a light end of the optical system, and
a weight assembly, wherein the weight assembly comprises a first weight platform formed on the top of the optical system and located at the light end of the optical system, a second weight platform formed on the rotating platform, a plurality of weights and a plurality of weight cavities for accommodating the weights, wherein the weights comprise a plurality of coarse weights and a plurality of fine weights, the weight cavities comprise a plurality of coarse weight cavities and a plurality of fine weight cavities, and the weight of the coarse weights is greater than the weight of the fine weights;
the plurality of coarse weight pieces and the plurality of fine weight pieces are suitable for being arranged on the first weight platform and/or the second weight platform in a separated mode, the plurality of coarse weight pieces are suitable for being arranged on the first weight platform and/or the second weight platform before the plurality of fine weight pieces, the plurality of coarse weight pieces only correspond to the light end part of the optical system, the coarse weight pieces are not arranged at positions corresponding to the heavy end part of the optical system in the multi-line laser radar device, and the fine weight cavity and the coarse weight cavity are adjacent to the outer edge area of the first weight platform and the outer edge area of the second weight platform.
2. The multi-line lidar device of claim 1, wherein the coarse weight cavity is provided in the first weight stage and in the second weight stage in an area corresponding to the light end of the optical system, wherein the fine weight cavity is provided in the first weight stage and in the second weight stage in an area corresponding to the heavy end of the optical system.
3. The multi-line lidar device according to claim 2, wherein a plurality of the weight members are provided to the optical system based on a dynamic balance parameter of the multi-line lidar, the dynamic balance parameter including a position parameter and a weight parameter, and when performing fine weighting, the fine weight member matched with the weight parameter is accommodated in the weight chamber located in the region matched with the position parameter.
4. The multi-line lidar device of claim 3, wherein the weight chamber further comprises a combined weight chamber provided to the first weight platform for receiving the coarse weight and the fine weight.
5. The multi-line lidar device of claim 4, wherein the coarse weight cavities comprise a set of first coarse weight cavities and a set of second coarse weight cavities, wherein a set of the first coarse weight cavities are provided to the first weight platform, a set of the second coarse weight cavities are provided to a region of the second weight platform corresponding to the light end of the optical system, a plurality of the coarse weight pieces are respectively accommodated in each of the first coarse weight cavities and each of the second coarse weight cavities and the combined weight cavity when the multi-line lidar is coarse weighted, wherein a plurality of the fine weight cavities comprise a set of first fine weight cavities and a set of second fine weight cavities, wherein a set of the first fine weight cavities are provided to a region of the second weight platform corresponding to the light end of the optical system, and wherein the plurality of fine weight pieces are respectively accommodated in each of the first fine weight cavities and each of the second fine weight cavities based on the position parameters and the fine weight parameters when the multi-line lidar is fine weighted.
6. The multi-line lidar device of claim 5, wherein the coarse weights comprise a set of first coarse weights, a set of second coarse weights, and a set of third coarse weights, each of the first coarse weights being received in each of the first coarse weights, each of the second coarse weights being received in the combined weights, each of the third coarse weights being received in each of the second coarse weights, wherein the fine weights comprise a set of first fine weights, a set of second fine weights, and a set of third fine weights, each of the first fine weights being received in each of the first fine weights, the second fine weights being received in the combined weights, and the third fine weights being received in the second fine weights, respectively, when fine weights are performed, based on the positional parameters and the weight parameters.
7. The multi-line lidar device of claim 6, wherein each of the first coarse weight cavities is a cylindrical cavity, each of the second coarse weight cavities is an annular-like cavity, each of the combined weight cavities is a cube-like cavity, each of the first fine weight cavities is a threaded cylindrical cavity, and each of the second fine weight cavities is an annular-like cavity.
8. A method for weighting a multi-line lidar device of any of claims 1-7, comprising:
the method comprises the steps that a plurality of rough weight pieces are respectively arranged on a first weight platform and/or a second weight platform to carry out rough weight on the multi-line laser radar, wherein the lens assemblies are intensively distributed at one end of the optical system, one end where the lens assemblies are arranged forms a heavy end part of the optical system, the other end opposite to the heavy end part forms a light end part of the optical system, the first weight platform is arranged at a light end part of an optical system of the multi-line laser radar device, and the plurality of rough weight pieces are only arranged in rough weight cavities in a region corresponding to the light end part; and
providing a plurality of fine weights respectively in the fine weight cavities in the first weight platform and/or the second weight platform in the region corresponding to the heavy end based on a position parameter and a weight parameter of a dynamic balance parameter so as to carry out fine weight on the multi-line laser radar, wherein the weight of the coarse weight is larger than that of the fine weight, and the fine weight cavities and the coarse weight cavities are adjacent to the outer edge region of the first weight platform and the outer edge region of the second weight platform;
wherein the plurality of coarse weights are disposed at the first weight platform and/or the second weight platform prior to the plurality of fine weights.
9. The method of weighting a multi-line lidar device of claim 8, wherein providing a plurality of coarse weighting members to a first weighting platform and/or a second weighting platform, respectively, to coarsely weight the multi-line lidar comprises:
a set of first coarse weight pieces of the coarse weight pieces are respectively accommodated in a set of first coarse weight cavities of the weight cavities; a second coarse weight of the coarse weight is accommodated in a combined weight cavity of the weight cavity; and
the set of third coarse weight pieces of the coarse weight pieces are respectively accommodated in the set of second coarse weight cavities of the coarse weight cavities.
10. The method of weighting a multi-line lidar device of claim 9, wherein providing a plurality of fine weights to regions of the first weight platform and the second weight platform corresponding to the heavy ends, respectively, based on a position parameter and a weight parameter of a dynamic balance parameter, comprises:
a group of first fine weights of the fine weights are respectively accommodated in a group of first fine weight cavities of the weight cavities;
a second fine weight part of the fine weight parts is accommodated in the combined weight cavity; and
a third fine weight of the fine weight is received in a second fine weight of the weight chamber.
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| CN114323442A (en) * | 2021-12-31 | 2022-04-12 | 深圳市普渡怒放科技有限公司 | Mechanical laser radar |
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| CN203930210U (en) * | 2014-07-08 | 2014-11-05 | 北京万集科技股份有限公司 | A kind of transient equilibrium tilting mirror structure |
| CN204855090U (en) * | 2015-07-02 | 2015-12-09 | 黄冈大别山发电有限责任公司 | Rotating machinery shaft coupling dynamic balance test counter weight device |
| CN205001192U (en) * | 2015-09-30 | 2016-01-27 | 艾默生环境优化技术(苏州)有限公司 | Balancing weight and rotary machine comprising same |
| CN107991661B (en) * | 2017-11-23 | 2020-01-07 | 武汉万集信息技术有限公司 | Mechanical laser radar and counterweight method thereof |
| CN108326636B (en) * | 2018-04-25 | 2019-05-31 | 华中科技大学 | The cutter dynamic balancing of ultraprecise fly cutter Milling Process measures adjustment device and method in machine |
| CN108828557B (en) * | 2018-06-08 | 2023-11-24 | 上海禾赛科技有限公司 | Laser radar |
| CN108768062A (en) * | 2018-07-12 | 2018-11-06 | 华勤通讯技术有限公司 | A kind of rotating device and its assemble method |
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