CN111896939B - Laser radar light source detection device - Google Patents
Laser radar light source detection device Download PDFInfo
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- CN111896939B CN111896939B CN202010739200.4A CN202010739200A CN111896939B CN 111896939 B CN111896939 B CN 111896939B CN 202010739200 A CN202010739200 A CN 202010739200A CN 111896939 B CN111896939 B CN 111896939B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/04—Optical benches therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar light source detection device, which comprises: the light source adjusting module is used for lighting the light source to be measured, collimating the laser beam emitted by the light source to be measured and adjusting the position of the light source to be measured; a beam transmission and reflection module capable of transmitting and reflecting the laser beam, which is positioned at one side of the light source adjustment module; the first camera is positioned at one side of the beam transmission and reflection module and is used for collecting a first facula image of the laser beam reflected by the beam transmission and reflection module; the beam transmission and reflection module is positioned at the head end of the collimator, the laser beam passes through the collimator along the axial direction of the collimator after being transmitted by the beam transmission and reflection module, and the end of the collimator is provided with a reticle; the second camera is positioned at the tail end of the collimator and is used for collecting a second light spot image of the laser beam which passes through the collimator and then strikes the reticle; the upper computer is respectively connected with the first camera and the second camera in a communication way and is used for receiving the first light spot image and the second light spot image.
Description
Technical Field
The invention relates to the technical field of laser radar systems, in particular to a laser radar light source detection device.
Background
The laser radar system is a device for sensing surrounding objects by using laser beams, the laser radar emits the laser beams to the target, then receives the reflected laser beams, the detector converts the received optical signals into corresponding electric signals, and the position of the target is calculated through an algorithm. The optical system controls the propagation direction and convergence and divergence of laser in the system, which is a key part of the laser radar different from other working mechanisms, and the precise adjustment mode of the optical system determines the yield, stability and the like of the whole laser radar.
The laser radar needs to meet the performances of high precision, high reliability, gao Cheng such as frame frequency, high resolution, long distance measurement and the like, and various components contained in the laser radar, such as a light source, a detector, an integrated circuit board, a lead wire and the like, need to be reasonably designed in structure, a stable adjustment scheme, high adjustment efficiency and the like so as to meet the performance requirements of the laser radar. However, due to the problem of larger parameter tolerance of the conventional multi-component devices, especially the problem of poor consistency of the parameters of the light source of the core device, the adjustment range is enlarged, the adjustment stability is poor, and the laser radar system is difficult to meet the requirements of multiple performance indexes such as high precision and the like. Therefore, reducing the difficulty of light source adjustment and improving the optical adjustment efficiency and adjustment stability are aspects of the current laser radar development which need to be improved.
Disclosure of Invention
The invention aims to solve the problem of poor consistency of laser radar light source parameters, and provides a laser radar light source detection device which can test and select laser radar light source parameters so as to reduce light source adjustment difficulty and improve adjustment efficiency.
To achieve the purpose, the invention adopts the following technical scheme:
a lidar light source detection device, comprising:
the light source adjusting module is used for lighting a light source to be measured, collimating a laser beam emitted by the light source to be measured and adjusting the position of the light source to be measured;
the light beam transmission and reflection module is positioned at one side of the light source adjustment module and can transmit and reflect the laser beam;
the first camera is positioned at one side of the beam transmission and reflection module and is used for collecting a first facula image of the laser beam reflected by the beam transmission and reflection module;
the laser beam passes through the collimator tube along the axial direction of the collimator tube after being transmitted by the beam transmission and reflection module, and a reticle is arranged at the tail end of the collimator tube;
the second camera is positioned at the tail end of the collimator and is used for collecting a second light spot image of the laser beam which passes through the collimator and then strikes the reticle; and
the upper computer is respectively in communication connection with the first camera and the second camera and is used for receiving the first light spot image and the second light spot image.
In some embodiments, the light source dimming module comprises:
an optical collimation module for collimating the laser beam;
the first adjusting module is arranged on the optical collimating module and can adjust the azimuth of the optical collimating module;
the circuit board is used for electrically connecting and fixing the light source to be tested, and the circuit board stores a light source position adjusting range;
the second adjusting module is arranged on the circuit board and can adjust the azimuth of the circuit board; and
the signal board is used for being electrically connected with the light source to be detected and controlling the light source to be detected to be lightened.
In some embodiments, the first adjustment module comprises:
an X-axis adjusting sliding table;
the Z-axis adjusting frame is arranged on the X-axis adjusting sliding table, and the X-axis adjusting sliding table can drive the Z-axis adjusting frame to move along the X-axis direction; and
the support frame is arranged on the Z-axis adjusting frame, the position along the Z-axis direction is adjustable, and the optical collimation module is fixed on the support frame.
In some embodiments, the support frame is provided with a collimating and compressing member and a V-shaped notch, and the optical collimating module is placed in the V-shaped notch and compressed by the collimating and compressing member.
In some embodiments, the collimating and compacting member comprises an adjusting rod and a compacting block, wherein the compacting block is connected to the adjusting rod, and the position of the compacting block along the length direction of the adjusting rod is adjustable so as to abut against one surface of the optical collimating module, which is away from the V-shaped notch.
In some embodiments, the first adjustment module further comprises an X-axis guide rail extending along an X-axis direction, and the X-axis adjustment slide is slidably disposed on the X-axis guide rail.
In some embodiments, the light source adjustment module further comprises a circuit board locking member and a circuit board fixing member, the circuit board fixing member being mounted on the second adjustment module; the circuit board locking piece is connected to the circuit board fixing piece and used for locking the circuit board.
In some embodiments, the circuit board locking member includes two clamping plates that can be moved toward each other to clamp the circuit board and away from each other to unclamp the circuit board.
In some embodiments, the second adjustment module is a three-dimensional adjustment bracket capable of driving the circuit board to move in an X-axis direction, a Y-axis direction, and a Z-axis direction.
In some embodiments, the light source adjusting module further comprises a signal board support frame and a support platform, the signal board is arranged on the signal board support frame, and the signal board support frame, the first adjusting module and the second adjusting module are all arranged on the support platform.
The invention has at least the following beneficial effects:
the laser radar light source detection device can lighten a light source to be detected through the light source adjustment module, collimate a laser beam emitted by the light source to be detected and adjust the position of the light source to be detected, the light beam transmission and reflection module can transmit and reflect the laser beam emitted by the light source to be detected, the first camera collects a first light spot image after the laser beam is reflected, the second camera collects a second light spot image on a reticle after the laser beam passes through the collimator, and the upper computer receives the first light spot image and the second light spot image, so that whether parameters of the light source to be detected meet adjustment requirements can be determined according to light spots received by the upper computer, detection and selection of the light source parameters are realized, the light sources used in a laser radar system are all qualified light sources, and the purposes of reducing the light source adjustment difficulty and improving the adjustment efficiency are achieved.
Drawings
Fig. 1 is a schematic structural diagram of a laser radar light source detection device according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a light source adjustment module according to an embodiment of the present invention.
Reference numerals illustrate:
100. a light source adjustment module; 101. an optical collimation module; 102. a Z-axis adjusting frame; 103. an adjusting member; 104. a support frame; 105. an X-axis adjusting sliding table; 106. a collimation compression member; 107. a circuit board; 108. a light source to be measured; 109. a circuit board locking member; 110. a circuit board fixing member; 111. a second adjustment module; 112. a signal board support frame; 113. a signal board; 114. a support platform; 200. a beam transmission and reflection module; 300. a first camera; 400. a collimator; 500. a second camera; 600. and an upper computer.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Because the parameters of the light sources of the laser radars have great variability, the great variability of the parameters of the light sources can cause great inconvenience to the assembly and the adjustment of the laser radars. Therefore, the present embodiment provides a laser radar light source detection device, through which the light source parameters of the laser radar are detected, so as to select the light source meeting the adjustment requirement within a certain range through detection.
As shown in fig. 1 and 2, the lidar light source detection device includes a light source adjustment module 100, a light beam transmission and reflection module 200, a first camera 300, a collimator 400, a second camera 500, and a host computer 600. The light source adjusting module 100 is used for lighting the light source 108 to be measured, collimating the laser beam emitted by the light source 108 to be measured and adjusting the position of the light source 108 to be measured; the beam transmission and reflection module 200 is positioned at one side of the light source adjustment module 100, and the beam transmission and reflection module 200 can transmit and reflect laser beams; the first camera 300 is located at one side of the beam transmission and reflection module 200, and is used for collecting a first light spot image of the laser beam reflected by the beam transmission and reflection module 200; the end of the collimator 400 is provided with a reticle, the beam transmission and reflection module 200 is positioned at the head end of the collimator 400, and the laser beam passes through the collimator 400 along the axial direction of the collimator 400 after being transmitted by the beam transmission and reflection module 200; the second camera 500 is located at the end of the collimator 400 and is used for collecting a second light spot image of the laser beam, which is hit on the reticle after passing through the collimator 400; the upper computer 600 is respectively connected to the first camera 300 and the second camera 500 in a communication manner, and is configured to receive the first light spot image and the second light spot image.
According to the laser radar light source detection device, the light source to be detected 108 can be lightened through the light source adjustment module 100, the laser beam emitted by the light source to be detected 108 is collimated, the position of the light source to be detected 108 is adjusted, the light beam transmitting and reflecting module 200 can transmit and reflect the laser beam emitted by the light source to be detected 108, the first camera 300 collects a first light spot image after the laser beam is reflected, the second camera 500 collects a second light spot image on the reticle after the laser beam passes through the collimator 400, and the upper computer 600 receives the first light spot image and the second light spot image, so that whether parameters of the light source to be detected 108 meet adjustment requirements can be determined according to light spots received by the upper computer 600, detection and selection of light source parameters are achieved, and the purposes of reducing light source adjustment difficulty and improving adjustment efficiency are achieved by ensuring that light sources used in a laser radar system are all qualified light sources.
Specifically, the laser beam of the light source 108 to be measured is transmitted to the collimator 400 through the beam transmission and reflection module 200 (e.g. prism), the laser beam is reflected to the first camera 300, the laser beam transmitted to the first camera 300 is directly transmitted to the first camera 300 to collect the first light spot image, and the first camera 300 transmits the collected first light spot image to the upper computer 600; the collimator 400 functions to simulate infinity, and the second camera 500 collects a second spot image of the laser beam passing through the collimator 400 onto the reticle and transmits the second spot image to the host computer 600.
In some embodiments, the light source adjustment module 100 includes an optical collimation module 101, a first adjustment module, a circuit board 107, a second adjustment module 111, and a signal board 113, the optical collimation module 101 being configured to collimate a laser beam; the optical collimation module 101 is arranged on the first adjusting module, and the first adjusting module can adjust the azimuth of the optical collimation module 101; the circuit board 107 is used for electrically connecting and fixing the light source 108 to be tested, and the circuit board 107 stores a light source position adjusting range; the circuit board 107 is arranged on the second adjusting module 111, and the second adjusting module 111 can adjust the orientation of the circuit board 107, so that the orientation of the light source 108 to be measured on the circuit board 107 is adjusted; the signal board 113 is used for electrically connecting with the light source 108 to be measured and controlling the light source 108 to be measured to be lighted.
Specifically, the installation and adjustment manner of the light source 108 to be measured is as follows: the pins of the light source 108 to be detected pass through the reserved mounting holes on the circuit board 107 to be initially positioned and fixed; the pin line of the light source 108 to be tested is connected with the signal board 113, and the light source 108 to be tested is lightened through the signal board 113; the circuit board 107 is mounted on the second adjusting module 111, and the direction of the circuit board 107 is adjusted by the second adjusting module 111, so that the direction of the light source 108 to be measured is adjusted. The circuit board 107 stores a light source position adjustment range, and if the light source 108 to be detected can meet the requirement of the light spot parameters in the light source position adjustment range, the light source 108 to be detected is qualified; if the light source 108 to be measured does not meet the requirement of the light spot parameter in the light source position adjustment range, the light source 108 to be measured is not qualified.
In some embodiments, the first adjustment module includes a Z-axis adjustment frame 102, a support frame 104, and an X-axis adjustment slide 105, and the optical alignment module 101 is fixed on the support frame 104; the support frame 104 is mounted on the Z-axis adjusting frame 102, and the position of the support frame 104 along the Z-axis direction is adjustable, so that the position of the optical collimation module 101 along the Z-axis direction is adjusted; the Z-axis adjusting frame 102 is disposed on the X-axis adjusting sliding table 105, and the X-axis adjusting sliding table 105 can drive the Z-axis adjusting frame 102 to move along the X-axis direction, so as to adjust the position of the optical collimating module 101 in the X-axis direction. Alternatively, the support frame 104 is mounted on the Z-axis adjusting frame 102 through the adjusting member 103, the adjusting member 103 is detachably connected with the Z-axis adjusting frame 102, and the position of the adjusting member 103 in the Z-axis direction is adjustable.
In some embodiments, the support frame 104 is provided with a collimating and compressing member 106 and a V-shaped notch, and the optical collimating module 101 is placed in the V-shaped notch and compressed by the collimating and compressing member 106. The V-shaped notch has a limiting function, and the optical alignment module 101 is clamped together through the V-shaped notch and the alignment pressing piece 106, so that the optical alignment module 101 is stably fixed on the support frame 104.
Optionally, the collimating and compacting member 106 includes an adjusting rod and a pressing block, the pressing block is connected to the adjusting rod, and the position of the pressing block along the length direction of the adjusting rod is adjustable, so as to abut against one surface of the optical collimating module 101, which faces away from the V-shaped notch, so as to conveniently compress the optical collimating module 101. Because the position of the pressing block along the length direction of the adjusting rod is adjustable, the collimating pressing piece 106 can adapt to optical collimating modules 101 with different sizes. Specifically, when the optical alignment module 101 needs to be fixed on the support frame 104, the optical alignment module 101 is firstly placed in the V-shaped notch, then the position of the pressing block along the length direction of the adjusting rod is adjusted until the pressing block abuts against one surface of the optical alignment module 101, which is away from the V-shaped notch, and then the pressing block is fixed at the current position of the adjusting rod.
In some embodiments, to improve stability of the X-axis adjustment slide 105 when moving in the X-axis direction, the first adjustment module further includes an X-axis guide rail extending in the X-axis direction, and the X-axis adjustment slide 105 is slidably disposed on the X-axis guide rail. Alternatively, the number of the X-axis guide rails may be two, and the two X-axis guide rails are disposed at intervals and are slidably connected to the X-axis adjustment slide table 105, respectively.
Optionally, the light source adjusting module 100 further includes a circuit board locking member 109 and a circuit board fixing member 110, and the circuit board fixing member 110 is mounted on the second adjusting module 111; the circuit board locking member 109 is connected to the circuit board fixing member 110 for locking the circuit board 107. The circuit board locking piece 109 and the circuit board fixing piece 110 can avoid the relative position of the circuit board 107 and the second adjusting module 111 from changing due to shaking in the direction adjusting process, and the detection precision is affected.
In some embodiments, the circuit board locking member 109 includes two clamping plates that can be moved toward each other to clamp the circuit board 107 and away from each other to release the circuit board 107. By adopting the mode that the circuit board 107 is clamped by the two clamping plates, the locking operation and the releasing operation of the circuit board 107 are more convenient for a detection person. Of course, in other embodiments, the circuit board locking member 109 may take other configurations as long as the locking of the circuit board 107 is achieved.
In some embodiments, the second adjustment module 111 is a three-dimensional adjustment bracket that can drive the circuit board 107 to move in the X-axis direction, the Y-axis direction, and the Z-axis direction. The three-dimensional adjusting bracket has a three-dimensional translation function, so that the circuit board 107 can move along the X-axis direction, the Y-axis direction and the Z-axis direction to adjust the azimuth of the light source 108 to be measured, and the adjusting precision is higher. Specifically, the circuit board 107 stores adjustment margins in the X-axis direction, the Y-axis direction and the Z-axis direction, the adjustment margins can be 1.5 times of the preset light source size parameters, the adjustment margins are light source position adjustment ranges, the position adjustment of the light source 108 to be measured in the X-axis direction, the Y-axis direction and the Z-axis direction in a certain range is realized, and if the light source 108 to be measured can meet the requirement of the light spot parameters in the light source position adjustment ranges, the light source 108 to be measured is qualified; if the light source 108 to be measured does not meet the requirement of the light spot parameter in the light source position adjustment range, the light source 108 to be measured is not qualified.
In some embodiments, the light source adjusting module 100 further includes a signal board support 112 and a support platform 114, the signal board 113 is disposed on the signal board support 112, and the signal board support 112, the first adjusting module and the second adjusting module 111 are disposed on the support platform 114. Through concentrating parts such as signal plate support frame 112, first regulation module and second regulation module 111 on supporting platform 114 and arranging rationally for the overall structure of light source dress and adjusting module 100 is compacter, can realize the removal of whole light source dress and adjusting module 100 through removing supporting platform 114 during the use, is convenient for once only placing whole light source dress and adjusting module 100 suitable position.
The laser radar light source detection device shown in fig. 1 and 2 is used as follows:
1) First, the light source to be measured 108 is mounted on the circuit board 107, the pin line of the light source to be measured 108 is electrically connected with the signal board 113, the light source to be measured 108 is lighted up through the signal board 113, and the circuit board 107 is mounted on the second adjusting module 111.
2) The optical collimating module 101 is adjusted to be parallel to the beam transmitting and reflecting module 200 and the parallel light pipe 400 by the Z-axis adjusting frame 102 and the X-axis adjusting sliding table 105, specifically, whether the beam is parallel can be determined according to whether the light spot can be seen in the second camera 500, and if the light spot can be seen in the second camera 500, the beam is determined to be parallel.
3) The laser beam emitted by the light source 108 to be measured is divided into a transmission beam and a reflection beam by the beam transmission and reflection module 200, so that the transmission beam is transmitted to the collimator 400, and the reflection beam is transmitted to the first camera 300; the first camera 300 collects a first spot image reflected on the first camera 300 by the reflected light beam and transmits the first spot image to the upper computer 600; the collimator 400 realizes the distance of simulating infinity, the transmitted beam passes through infinity and strikes the reticle at the end of the collimator 400, the second camera 500 collects a second spot image on the reticle, and the second camera 500 transmits the collected second spot image to the host computer 600.
4) According to the light source position adjusting range stored by the circuit board 107, the second adjusting module 111 is used for adjusting the circuit board 107 to drive the light source 108 to be measured to realize position adjustment in the X-axis direction, the Y-axis direction and the Z-axis direction within a certain range; after each adjustment, the first light spot image is collected by the first camera 300 and transmitted to the upper computer 600, and the second light spot image is collected by the second camera 500 and transmitted to the upper computer 600.
5) Judging whether the light source 108 to be detected is qualified in the light source position adjusting range according to the first light spot image and the second light spot image received by the upper computer 600: if the light source 108 to be measured can meet the light spot parameters within the light source position adjustment range, the light source 108 to be measured is qualified; if the light source 108 to be measured does not meet the spot parameters within the light source position adjustment range, the light source 108 to be measured is not qualified.
6) The steps are repeated, so that the selection of the light sources is realized, and the light sources meeting the adjustment requirement in the adjustment range of the light source position are selected.
It should be understood that the laser radar light source detection device provided in this embodiment is not only suitable for the adjustment of a laser radar, but also suitable for the adjustment of other photoelectric products.
It should be noted that when one portion is referred to as being "fixed to" another portion, it may be directly on the other portion or there may be a portion in the middle. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only and do not represent the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (9)
1. A lidar light source detection device, comprising:
the light source adjusting module is used for lighting a light source to be measured, collimating a laser beam emitted by the light source to be measured and adjusting the position of the light source to be measured;
the light beam transmission and reflection module is positioned at one side of the light source adjustment module and can transmit and reflect the laser beam;
the first camera is positioned at one side of the beam transmission and reflection module and is used for collecting a first facula image of the laser beam reflected by the beam transmission and reflection module;
the laser beam passes through the collimator tube along the axial direction of the collimator tube after being transmitted by the beam transmission and reflection module, and a reticle is arranged at the tail end of the collimator tube;
the second camera is positioned at the tail end of the collimator and is used for collecting a second light spot image of the laser beam which passes through the collimator and then strikes the reticle; and
the upper computer is respectively in communication connection with the first camera and the second camera and is used for receiving the first light spot image and the second light spot image;
the light source adjustment module comprises:
an optical collimation module for collimating the laser beam;
the first adjusting module is arranged on the optical collimating module and can adjust the azimuth of the optical collimating module;
the circuit board is used for electrically connecting and fixing the light source to be tested, and the circuit board stores a light source position adjusting range;
the second adjusting module is arranged on the circuit board and can adjust the azimuth of the circuit board; and
the signal board is used for being electrically connected with the light source to be detected and controlling the light source to be detected to be lightened.
2. The lidar light source detection device of claim 1, wherein the first adjustment module comprises:
an X-axis adjusting sliding table;
the Z-axis adjusting frame is arranged on the X-axis adjusting sliding table, and the X-axis adjusting sliding table can drive the Z-axis adjusting frame to move along the X-axis direction; and
the support frame is arranged on the Z-axis adjusting frame and is adjustable in position along the Z-axis direction, and the optical collimation module is fixed on the support frame.
3. The lidar light source detection device according to claim 2, wherein the support frame is provided with a collimating and pressing member and a V-shaped notch, and the optical collimating module is placed in the V-shaped notch and pressed by the collimating and pressing member.
4. The laser radar light source detection device according to claim 3, wherein the collimating and pressing piece comprises an adjusting rod and a pressing block, the pressing block is connected to the adjusting rod, and the position of the pressing block along the length direction of the adjusting rod is adjustable so as to abut against one surface of the optical collimating module, which faces away from the V-shaped notch.
5. The lidar light source detection device of claim 2, wherein the first adjustment module further comprises an X-axis guide rail extending in an X-axis direction, and wherein the X-axis adjustment slide is slidably disposed on the X-axis guide rail.
6. The lidar light source detection device of claim 1, wherein the light source adjustment module further comprises a circuit board locking member and a circuit board fixing member, the circuit board fixing member being mounted on the second adjustment module; the circuit board locking piece is connected to the circuit board fixing piece and used for locking the circuit board.
7. The lidar light source detection device of claim 6, wherein the circuit board locking member comprises two clamping plates that can be moved closer together to clamp the circuit board and moved away from each other to unclamp the circuit board.
8. The lidar light source detection device of claim 1, wherein the second adjustment module is a three-dimensional adjustment bracket that can drive the circuit board to move in an X-axis direction, a Y-axis direction, and a Z-axis direction.
9. The lidar light source detection device of any of claims 1 to 8, wherein the light source adjustment module further comprises a signal plate support frame and a support platform, the signal plate is disposed on the signal plate support frame, and the signal plate support frame, the first adjustment module, and the second adjustment module are all disposed on the support platform.
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| CN117148572B (en) * | 2023-11-01 | 2024-01-02 | 中国科学院长春光学精密机械与物理研究所 | Device, method and medium for simulating tracking object |
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