CN215813327U

CN215813327U - Laser radar timing device

Info

Publication number: CN215813327U
Application number: CN202121631114.8U
Authority: CN
Inventors: 胡连逵; 李长满
Original assignee: Foshan Hinson Robot Technology Co ltd
Current assignee: Guangdong Xingsong Technology Co ltd
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2022-02-11
Anticipated expiration: 2031-07-16

Abstract

The utility model discloses a laser radar adjusting device, which comprises: the fixing seat is provided with a first connecting piece which can be connected with the shell provided with the collimating lens, and the fixing seat is provided with a through hole for the laser to pass through the collimating lens; the first supporting piece is provided with a first connecting end and a second connecting end which can be connected with the transmitting unit; and the three-dimensional fine adjustment platform is provided with a platform connecting end which is connected with the first connecting end to adjust the three-dimensional position of the first supporting piece. The shell with the collimating lens is arranged on the fixed seat, the emitting unit is arranged on the first supporting piece, and the through hole can allow laser emitted by the emitting unit to pass through the through hole after passing through the collimating lens, so that the image acquisition unit can be used for acquiring light spot image information of the laser on the imaging light screen conveniently, and the adjustment and the calibration of the emitting unit are facilitated; and the three-dimensional fine adjustment platform is connected with the first supporting piece, and can drive the first supporting piece to move along X, Y and Z directions respectively, thereby conveniently and accurately adjusting the three-dimensional position of the emission unit relative to the collimating lens, and improving the adjustment effect.

Description

Laser radar timing device

Technical Field

The utility model relates to the technical field of laser radars, in particular to a laser radar adjusting device.

Background

The laser radar can obtain information such as the position, the distance, the speed, the profile and the like of a target object by emitting laser beams to the target object, detecting and processing optical signals returned by the target object, has the advantages of high detection precision, high detection speed, small size and the like, and is widely applied to the fields of mobile robot image building, obstacle avoidance and the like.

The lidar generally comprises a transmitting optical path and a collecting optical path, such as the lidar disclosed in utility model patent application No. CN 201920595889.0. In the production process of the laser radar, the optical elements need to be adjusted and calibrated, and the adjustment precision directly influences the overall performance index of the laser radar. However, the existing laser radar adjusting device has a simple structure, and the adjustment of the collimation light path is completed only by adjusting the front and back positions of the transmitting circuit board with the transmitting light source relative to the transmitting optical lens, but the adjusting effect is not ideal.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a lidar calibration apparatus, which solves one or more of the problems of the prior art and provides at least one of the advantages.

The technical scheme adopted for solving the technical problems is as follows:

the utility model provides a laser radar adjusting device, which comprises:

the laser collimator comprises a fixed seat, a first connecting piece and a second connecting piece, wherein the fixed seat is provided with the first connecting piece which can be connected with a shell provided with a collimating lens, and the fixed seat is provided with a through hole for laser to pass through the collimating lens;

the first supporting piece is provided with a first connecting end and a second connecting end which can be connected with the transmitting unit;

and the three-dimensional fine adjustment platform is provided with a platform connecting end which is connected with the first connecting end to adjust the three-dimensional position of the first supporting piece.

The utility model has at least the following beneficial effects: when the position of the emission unit relative to the collimating lens is adjusted, the shell provided with the collimating lens is fixed on the fixed seat through being connected with the first connecting piece, the emission unit is arranged on the first supporting piece through being connected with the second connecting piece, and the through hole arranged on the fixed seat can allow laser emitted by the emission unit to pass through the through hole after passing through the collimating lens, so that the image acquisition unit can be used for acquiring light spot image information of the laser on the imaging light screen conveniently, and the adjustment work of the emission unit is facilitated; and the three-dimensional fine tuning platform is connected with the first connecting end through the platform connecting end to realize being connected with the first supporting piece, can drive the first supporting piece to move along X, Y and Z three directions respectively to convenient accurate three-dimensional position of adjusting the relative collimating lens of emission unit, in order to improve the timing effect.

As a further improvement of the above technical solution, the first support member includes a first connecting rod, a U-shaped plate and a connecting block; one end of the first connecting rod is connected with the U-shaped plate, and the other end of the first connecting rod is connected with the platform connecting end; the connecting block is equipped with two and sets up about the emission unit symmetry, the end connection of the one end of connecting block and U template, the other end of connecting block is protruding towards the emission unit and is formed the location portion that can be connected with the first locating hole adaptation of emission unit.

All set up the connecting block in the transmitting unit both sides, the connecting block forms location portion towards the surperficial arch of transmitting unit, corresponds the first locating hole who inserts the transmitting unit through location portion, makes connecting block and the quick detachable connection of transmitting unit, accomplishes the timing of transmitting unit and is connected the back with transmitting unit and casing, conveniently removes the connection effect from the connecting block fast with transmitting unit. The connecting block is arranged at the end part of the U-shaped plate, and the opening area of the U-shaped plate provides accommodating space for the transmitting unit. The first connecting rod is used as an extension arm of the U-shaped plate, and the U-shaped plate is connected with the three-dimensional fine adjustment platform.

As a further improvement of the technical scheme, the U-shaped plate is provided with a sliding chute and an adjusting waist-shaped hole, the adjusting waist-shaped hole is communicated with the sliding chute, and the length direction of the adjusting waist-shaped hole is consistent with the length direction of the sliding chute; the connecting block is established just can remove along the spout in the spout, and two connecting blocks can be close to each other or keep away from, and the connecting block is equipped with and supplies the bolt to pass adjust waist type hole and be connected in the screw of connecting block.

The U-shaped plate is provided with a sliding groove, the connecting blocks are arranged in the sliding groove, and the positions of the connecting blocks in the sliding groove can be adjusted, so that the distance between the two connecting blocks is adjusted, and the two connecting blocks can be detachably connected with the first positioning hole of the transmitting unit; and the U-shaped plate is provided with an adjusting waist-shaped hole, the connecting block is provided with a screw hole, a bolt can be used to penetrate through the adjusting waist-shaped hole and be connected to the screw hole, the connecting block is fixed on the U-shaped plate, and the connecting block is prevented from moving after the position is adjusted.

As a further improvement of the above technical solution, the surface of the fixing base facing the housing is protruded to form a plurality of positioning posts capable of being connected with the second positioning holes of the housing in an adaptive manner. The fixing base sets up the reference column towards the surface of casing, can aim at the position of reference column with the second locating hole of casing to embolia the reference column, realize casing and fixing base high-speed joint, and the convenience is followed the fixing base with the casing and is swiftly dismantled after accomplishing timing work.

As a further improvement of the above technical solution, the lidar tuning device further includes a second support; the second supporting piece is provided with a third connecting end and a fourth connecting end which can be connected with the receiving unit; the three-dimensional fine adjustment platform is provided with two three-dimensional fine adjustment platforms, the third connecting end is connected with the platform connecting end of one of the three-dimensional fine adjustment platforms so as to adjust the position of the receiving unit relative to the shell provided with the receiving lens, and the first connecting end is connected with the platform connecting end of the other three-dimensional fine adjustment platform.

A second supporting piece is arranged and is connected with the receiving unit through a fourth connecting end, so that the receiving unit is arranged on the second supporting piece; and two three-dimensional fine adjustment platforms are arranged, one is used for adjusting the three-dimensional position of the transmitting unit relative to the collimating lens, and the other is used for adjusting the three-dimensional position of the receiving unit relative to the receiving lens on the shell, and finally fine adjustment work of the transmitting unit and the receiving unit is completed.

As a further improvement of the above technical solution, the second support includes a second link and a connecting plate; one end of the second connecting rod is connected with the connecting plate, and the other end of the second connecting rod is connected with the platform connecting end; and a plurality of positioning pins which can be in adaptive connection with the third positioning holes of the receiving unit are arranged on the surface of the connecting plate facing the receiving unit. The surface of the connecting plate facing the receiving unit is provided with a positioning pin, and the connecting plate and the receiving unit can be quickly detachably connected by correspondingly inserting the positioning pin into a third positioning hole of the receiving unit. The second connecting rod is used as an extension arm of the connecting plate, and the connecting plate is connected with the three-dimensional fine adjustment platform.

As a further improvement of the above technical solution, the lidar tuning device further includes a substrate, a rotating member, and an image acquisition unit; the substrate is provided with a mounting hole; the fixed seat and the three-dimensional fine tuning platform are both connected with the substrate; the rotating piece is provided with a first end portion and a second end portion, the first end portion is connected with the bottom of the image acquisition unit, and the second end portion is provided with a connecting hole for connecting a fastening bolt in the mounting hole.

Establish fixing base and three-dimensional fine setting platform on the base plate, the image acquisition unit is connected on the base plate through rotating the piece to, the second tip that rotates the piece sets up the connecting hole, uses fastening bolt to pass the connecting hole and connect the mounting hole on the base plate, realizes rotating a piece and is connected with the base plate, finally fixes the image acquisition unit steadily on the base plate, avoids taking place the image acquisition unit aversion in the timing work.

As a further improvement of the above technical solution, the three-dimensional fine adjustment platform comprises an X-direction fine adjustment mechanism, a Y-direction fine adjustment mechanism and a Z-direction fine adjustment mechanism; the X-direction fine adjustment mechanism, the Y-direction fine adjustment mechanism and the Z-direction fine adjustment mechanism are connected in pairs and arranged along the Z direction.

X is to adopting two liang of connections between fine-tuning, Y and Z to the fine-tuning three to arrange along the Z direction, accomplish platform link position fine setting in the X direction through X to fine-tuning, accomplish platform link position fine setting in the Y direction through Y to fine-tuning, accomplish platform link position fine setting in the Z direction through Z to fine-tuning, finally realize the three-dimensional position control of platform link.

As a further improvement of the above technical solution, the X-direction fine adjustment mechanism and the Y-direction fine adjustment mechanism have the same structure, and both include:

a base;

a movable seat connected with the base and capable of sliding relative to the base, the movable seat is arranged above the base,

a micrometer;

one of the abutting block and the micrometer is connected with the base, the other abutting block is connected with the movable base, and a micrometer screw of the micrometer is abutted against the abutting block;

a locking bolt;

one of the limiting plate and the locking bolt is connected with the base, the other one of the limiting plate and the locking bolt is connected with the movable seat, the limiting plate is provided with a waist-shaped hole for the locking bolt to penetrate through, and the length direction of the waist-shaped hole is consistent with the moving direction of the movable seat.

The base is connected with the removal seat, and the removal seat that is located the base top can the relative base removal, and one of them and the base of micrometer and butt piece are connected, and another is connected with removing the seat, and micrometer screw rod and butt piece looks butt of micrometer are rotating the knob of micrometer, make micrometer screw rod remove along its axis, and micrometer screw rod can promote the base of being connected with the butt piece or remove the seat simultaneously to the realization is removed the relative base of seat and is slided. And one of the limiting plate and the locking bolt is connected with the base, the other is connected with the movable seat, after the position of the movable seat relative to the base is adjusted, the locking bolt penetrates through the waist-shaped hole in the limiting plate and is screwed into the base or the movable seat, the base and the movable seat are relatively fixed and fixed by utilizing the fastening effect of the locking bolt, and the movable seat is prevented from shifting after the position of the movable seat relative to the base is adjusted.

As a further improvement of the above technical solution, the Z-fine adjustment mechanism includes:

a third base;

the third movable seat is connected with the third base and can move along the Z direction relative to the third base;

the third micrometer is connected with the third base, and the axial direction of the third micrometer is vertical to the Z direction;

the rotating arm is L-shaped and provided with a first rotating arm and a second rotating arm, the rotating arm is hinged with the third base by taking a connecting point of the first rotating arm and the second rotating arm as a hinged point, and the first rotating arm is abutted with a third micrometer screw of a third micrometer;

the moving rod is connected with the third moving seat, is positioned above the rotating arm and is abutted against the second rotating arm;

a third locking bolt;

and one of the third limiting plate and the third locking bolt is connected with the third base, the other one of the third limiting plate and the third locking bolt is connected with the third movable seat, the third limiting plate is provided with a third waist-shaped hole for the third locking bolt to pass through, and the length direction of the third waist-shaped hole is consistent with the moving direction of the third movable seat.

The third base is connected with the third moving seat, the third moving seat can move up and down relative to the third base, the third micrometer is arranged on the third base, and the axial direction of the third micrometer is perpendicular to the Z direction, so that the third micrometer screw of the third micrometer can move along the axial direction perpendicular to the Z direction. The L-shaped rotating arm is hinged with the third base by taking the connecting point of the first rotating arm and the second rotating arm as a hinge point, so that the rotating arm can rotate around the hinge axis vertical to the Z direction relative to the third base. The movable rod is arranged on the third movable seat and is positioned above the rotating arm, the third micrometer screw is driven to move by rotating the knob of the third micrometer, a pushing force is applied to the first rotating arm to drive the rotating arm to rotate, and a pushing force in the Z direction is applied to the movable rod through the second rotating arm to drive the movable seat to move in the Z direction.

One of the third limiting plate and the third locking bolt is connected with the third base, the other one of the third limiting plate and the third locking bolt is connected with the third movable seat, after the position of the third movable seat relative to the third base is adjusted, the third locking bolt penetrates through a third waist-shaped hole in the third limiting plate and is screwed into the third base or the third movable seat, the third base and the third movable seat are enabled to be relatively fixed and fixed under the fastening action of the third locking bolt, and the third movable seat is prevented from shifting after the position of the third movable seat relative to the third base is adjusted.

Drawings

The utility model is further described with reference to the accompanying drawings and examples;

fig. 1 is a schematic working diagram of a lidar calibration apparatus provided in the present invention;

fig. 2 is a perspective view of an embodiment of the lidar calibration apparatus according to the present invention;

fig. 3 is a perspective view of another embodiment of the lidar calibration apparatus according to the present invention;

FIG. 4 is an exploded view of a lidar optical assembly provided by the present invention;

FIG. 5 is a schematic structural view of the connection between the U-shaped plate and the connecting block provided by the utility model;

FIG. 6 is a perspective view of a three-dimensional fine adjustment platform according to the present invention;

FIG. 7 is a perspective view of the three-dimensional fine adjustment platform provided by the present invention from another perspective;

FIG. 8 is a schematic diagram of an internal structure of a Z-direction fine adjustment mechanism in the three-dimensional fine adjustment platform according to the present invention;

fig. 9 is a schematic structural diagram of the connection between the image capturing unit and the rotating member according to the present invention.

The drawings are numbered as follows: 100. a three-dimensional fine tuning platform; 110. a Y-direction fine adjustment mechanism; 111. a first base; 112. a first movable base; 113. a first locking bolt; 114. a first limit plate; 115. a guide rail; 116. a first micrometer; 117. a first abutment block; 120. an X-direction fine adjustment mechanism; 121. a second base; 122. a second movable base; 123. a second locking bolt; 124. a second limiting plate; 125. a second micrometer; 126. a second abutment block; 130. a Z-direction fine adjustment mechanism; 131. a third base; 132. a third movable seat; 133. a third locking bolt; 134. a third limiting plate; 135. a third micrometer; 136. a rotating arm; 137. a travel bar;

200. a first support member; 210. connecting blocks; 211. a fixed part; 212. a positioning part; 220. a U-shaped plate; 221. a chute; 222. adjusting a waist-shaped hole; 230. a bolt; 300. a second support member; 310. positioning pins; 320. a connecting plate; 400. a fixed seat; 410. a through hole; 420. a positioning column;

500. an image acquisition unit; 510. a support leg; 520. a circular block; 600. a rotating member; 610. connecting holes; 620. a bayonet; 700. a substrate; 710. mounting holes; 810. a housing; 820. a transmitting unit; 830. and a receiving unit.

Detailed Description

Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, if words such as "a plurality" are described, it means one or more, a plurality is two or more, more than, less than, more than, etc. are understood as not including the present number, and more than, less than, etc. are understood as including the present number. If any description to first, second and third is only for the purpose of distinguishing technical features, it is not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

It should be noted that, in the drawing, the X direction is from the back side of the lidar calibrating device to the front side; the Y direction is from the left side of the laser radar adjusting device to the right side; the Z direction is directed from the lower side of the laser radar tuning device to the upper side.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

Referring to fig. 1 to 9, several embodiments of the lidar tuning device of the present invention will be described below.

The optical assembly of the laser radar comprises a transmitting optical path assembly and a receiving optical path assembly, wherein the transmitting optical path assembly mainly comprises a transmitting unit 820 and a collimating lens, and the transmitting unit 820 is a transmitting circuit board provided with a transmitting tube; the receiving optical path component mainly includes a receiving unit 830 and a receiving lens, and the receiving unit 830 is a receiving circuit board on which a receiving tube is mounted. In the embodiment of the present invention, the receiving lens and the collimating lens are disposed on the housing 810, and the collimating lens and the receiving lens are disposed coaxially, the axis position of the receiving lens is disposed at the mounting position, and the collimating lens is disposed at the mounting position.

As shown in fig. 1 to 8, an embodiment of the present invention provides a lidar calibration apparatus, including: a holder 400, a first support 200, and a three-dimensional fine adjustment platform 100.

As shown in fig. 1 to 4, the fixing base 400 is provided with a first connecting piece capable of being connected to the housing 810 with the collimating lens, specifically, the surface of the fixing base 400 facing the housing 810 protrudes to form a plurality of positioning pillars 420 capable of being connected to the second positioning holes of the housing 810 in an adaptive manner, and the positioning pillars 420 are used as the first connecting piece and connected to the housing 810.

In this embodiment, the left side of the fixing base 400 is provided with four positioning posts 420, correspondingly, the housing 810 is provided with four second positioning holes, the positioning posts 420 are correspondingly inserted into the second positioning holes, so that the housing 810 and the fixing base 400 can be detachably connected, and the housing 810 can be directly pulled leftwards to separate the housing 810 from the fixing base 400. More specifically, fixing base 400 can set up positioning hole, inserts positioning hole with the right-hand member portion of reference column 420 in, realizes reference column 420 releasable connection in fixing base 400.

Furthermore, the fixing base 400 is provided with a through hole 410 for the laser to pass through via the collimating lens. The axial direction of the collimating lens is consistent with the Y direction, so that the axis of the through hole 410 extends along the Y direction, and the through hole 410 can be round or square, and only the requirement that the laser can pass through the collimating lens and the through hole 410 is met.

As shown in fig. 1 to 5, the first support 200 is provided with a first connection end and a second connection end that can be connected with the firing unit 820. Specifically, the first support member 200 includes a first link, a U-shaped plate 220, and a connection block 210.

One end of the first connecting rod is connected with the U-shaped plate 220 through a bolt, and the other end of the first connecting rod is a first connecting end. In this embodiment, the right end of the first link is detachably connected to the front end of the U-shaped plate 220 by a bolt.

The two connecting blocks 210 are symmetrically arranged relative to the emitting unit 820, one end of each connecting block 210 is connected with the end of the U-shaped plate 220, and the other end of each connecting block 210 protrudes towards the emitting unit 820 to form a positioning part 212 which can be in fit connection with the first positioning hole of the emitting unit 820.

In this embodiment, the connection block 210 includes a fixing portion 211 and a positioning portion 212, the positioning portion 212 is disposed at an end of the fixing portion 211 and is located on a right side surface of the fixing portion 211, and the positioning portion 212 and the fixing portion 211 are integrally formed. Both ends all set up first locating hole around emission unit 820, and the axis in first locating hole extends along the Y to, and first locating hole is the round hole, and consequently, location portion 212 is cylindric. The positioning part 212 is correspondingly inserted into the first positioning hole, so that the connection block 210 and the transmitting unit 820 can be detachably connected.

By such design, after the launching unit 820 is fixedly connected with the housing 810, the connecting block 210 can be driven to move to the left, so that the connecting block 210 is separated from the launching unit 820.

Further, the U-shaped plate 220 is provided with a sliding groove 221 and an adjusting waist-shaped hole 222, the adjusting waist-shaped hole 222 is communicated with the sliding groove 221, and the length direction of the adjusting waist-shaped hole 222 is consistent with the length direction of the sliding groove 221. In this embodiment, the length direction of the adjustment waist-shaped hole 222 and the length direction of the sliding slot 221 both extend along the X direction, the opening of the sliding slot 221 is disposed towards the right, and the adjustment waist-shaped hole 222 is located at the left side of the sliding slot 221.

Moreover, the connecting blocks 210 are disposed in the sliding groove 221 and can linearly move along the sliding groove 221, so that the two connecting blocks 210 can approach or separate from each other, and the front-back distance between the two connecting blocks 210 is adjusted, so that both the two connecting blocks 210 can be detachably connected with the first positioning hole of the launching unit 820. The connecting block 210 is provided with a screw hole for the bolt 230 to pass through the adjusting kidney-shaped hole 222 and be connected to the connecting block 210. In this embodiment, two screw holes are provided, and after the two bolts 230 pass through the adjusting kidney-shaped hole 222 and are connected with the screw holes, the fastening effect of the bolts 230 is utilized to ensure that the connecting block 210 is fixed in the sliding groove 221, and the connecting block 210 is prevented from moving after the position is adjusted.

Of course, the connection block 210 may be integrally formed with the U-shaped plate 220 for the same specification of the transmitter unit 820, or may be connected by welding or bolts.

As shown in fig. 1 to 3 and 6 to 8, the three-dimensional fine adjustment platform 100 is provided with a platform connection end connected with the first connection end to adjust the three-dimensional position of the first support 200.

Specifically, the three-dimensional fine adjustment platform 100 includes an X-direction fine adjustment mechanism 120, a Y-direction fine adjustment mechanism 110, and a Z-direction fine adjustment mechanism 130. The X-direction fine adjustment mechanism 120, the Y-direction fine adjustment mechanism 110, and the Z-direction fine adjustment mechanism 130 are connected in pairs and arranged along the Z-direction, that is, they include: the X-direction fine adjustment mechanism 120, the Y-direction fine adjustment mechanism 110 and the Z-direction fine adjustment mechanism 130 are sequentially connected along the Z direction; or, the X-direction fine adjustment mechanism 120, the Z-direction fine adjustment mechanism 130 and the Y-direction fine adjustment mechanism 110 are sequentially connected along the Z-direction; or, the Z-direction fine adjustment mechanism 130, the Y-direction fine adjustment mechanism 110, and the X-direction fine adjustment mechanism 120 are sequentially connected along the Z-direction; and so on.

The Y-fine adjustment mechanism 110 includes a first base 111, a first movable base 112, a first micrometer 116, a first abutting block 117, a first locking bolt 113, and a first limiting plate 114.

The first movable base 112 is disposed above the first base 111, and the first movable base 112 is connected to the first base 111 through a guide rail 115 and can slide linearly in the Y direction relative to the first base 111.

One end of the first micrometer 116 is a first micrometer screw, the other end is a rotatable first knob, a fixed scale and a movable scale part are arranged between the first micrometer screw and the first knob, the extension length of the first micrometer screw can be adjusted by rotating the first knob, and the extension length value of the first micrometer screw can be read out through the fixed scale and the movable scale part.

One of the first abutting block 117 and the first micrometer 116 is connected to the first base 111, and the other is connected to the first movable base 112. In this embodiment, the first abutting block 117 is connected to the first movable base 112 by a bolt, and the first micrometer 116 is connected to the first base 111 by a bolt. The first micrometer screw of the first micrometer 116 abuts against the first abutting block 117, and the first knob of the first micrometer 116 is manually rotated to drive the first micrometer screw of the first micrometer 116 to extend, so as to drive the first movable seat 112 connected with the first abutting block 117 to move along the Y direction. By providing the first micrometer 116 and the first abutting block 117, the moving distance of the first moving base 112 can be precisely controlled.

One of the first stopper plate 114 and the first locking bolt 113 is connected to the first base 111, and the other is connected to the first movable base 112. In this embodiment, the first limiting plate 114 is connected to the first base 111 through a bolt, the first limiting plate 114 is provided with a first waist-shaped hole for the first locking bolt 113 to pass through, a length direction of the first waist-shaped hole is consistent with a moving direction of the first moving seat 112, that is, two ends of the first waist-shaped hole extend along the Y direction. One end of the first locking bolt 113 is provided with a first threaded portion, which is convenient for being connected with the threaded hole of the first movable seat 112, and the other end of the first locking bolt 113 is provided with a rotating head portion, which is convenient for holding and rotating the first locking bolt 113.

After the position of the first movable seat 112 is adjusted by the first micrometer 116, the first locking bolt 113 is rotated to tighten the first locking bolt 113, so that the first locking bolt 113 abuts against the first limiting plate 114, and the first movable seat 112 is fixed relative to the first base 111 by the acting force between the first locking bolt 113 and the first limiting plate 114.

The X-fine adjustment mechanism 120 includes a second base 121, a second moving seat 122, a second micrometer 125, a second abutting block 126, a second locking bolt 123, and a second stopper plate 124. Since the X-fine adjustment mechanism 120 and the Y-fine adjustment mechanism 110 are identical in structure and operation principle, they will not be described in detail. In the present embodiment, the X-fine adjustment mechanism 120 is provided above the Y-fine adjustment mechanism 110.

The Z-fine adjustment mechanism 130 includes a third base 131, a third moving base 132, a third micrometer 135, a rotating arm 136, a moving rod 137, a third locking bolt 133, and a third stopper plate 134.

The third movable base 132 and the third base 131 may be connected by a slide rail and can move in the Z direction with respect to the third base 131. In this embodiment, the third movable seats 132 are provided with two and located at the front side and the rear side of the third base 131, respectively, and a top plate is adopted as the platform connecting end, the bottom of the top plate is connected with the tops of the two third movable seats 132 through bolts, and the top plate can move up and down along with the third movable seats 132.

The structure of the third micrometer 135 corresponds to the structure of the first micrometer 116. Third micrometer 135 with third base 131 is connected, the axial perpendicular to Z of third micrometer 135 is to, in this embodiment, third base 131 is equipped with opening cavity up and the installation through-hole that communicates with the cavity, and the installation through-hole is established at the left surface of third base 131, and third micrometer 135 establishes at installation through-hole department, and third micrometer 135's third micrometer screw rod is located the cavity, and the axial of third micrometer screw rod extends along the Y to, and third micrometer 135's third knob is located outside the cavity.

The rotating arm 136 is L-shaped, the rotating arm 136 has a first rotating arm and a second rotating arm, the rotating arm 136 uses the connection point of the first rotating arm and the second rotating arm as a hinge point to hinge the third base 131 through a pin shaft, and the rotating arm 136 can rotate around the axis extending in the front-back direction. In this embodiment, the rotating arm 136 is disposed within the cavity. The first rotating arm and the second rotating arm are consistent in length.

The moving rod 137 is connected to the third moving seat 132 by a bolt, the moving rod 137 is located above the rotating arm 136 and abuts against the top surface of the second rotating arm, and the first rotating arm abuts against the third micrometer screw of the third micrometer 135. When the third knob of the third micrometer 135 is rotated, the third micrometer screw of the third micrometer 135 is driven to extend, so as to drive the rotating arm 136 to rotate, and further drive the moving rod 137 to ascend through the second rotating arm, and finally realize that the third moving seat 132 ascends relative to the third base 131.

In this embodiment, a line segment between the contact position of the moving rod 137 and the second rotating arm and the hinge point of the rotating arm 136 is a first line segment, a line segment between the contact position of the third micrometer screw and the first rotating arm and the hinge point of the rotating arm 136 is a second line segment, the first line segment is perpendicular to the second line segment, and the first line segment is equal to the second line segment, so that the extending length of the third micrometer screw is consistent with the lifting distance of the third moving seat 132, and the lifting height of the third moving seat 132 can be clearly known by reading the reading of the third micrometer 135.

The third locking bolt 133 conforms to the structure of the first locking bolt 113.

One of the third stopper plate 134 and the third locking bolt 133 is connected to the third base 131, and the other is connected to the third moving seat 132. In this embodiment, the third limiting plate 134 is connected to the third movable seat 132 through a bolt, the third limiting plate 134 is provided with a third kidney-shaped hole for the third locking bolt 133 to pass through, and a length direction of the third kidney-shaped hole is consistent with a moving direction of the third movable seat 132, that is, two ends of the third kidney-shaped hole extend in an up-down direction. The third locking bolt 133 is threadedly coupled to the third base 131.

After the position of the third movable seat 132 is adjusted by the third micrometer 135, the third locking bolt 133 is tightened to urge the third locking bolt 133 to abut against the third stopper plate 134, and the third movable seat 132 is fixed relative to the third base 131 by the acting force between the third locking bolt 133 and the third stopper plate 134.

By adopting the structure, the three-dimensional fine adjustment platform 100 can accurately control the three-dimensional position of the platform connecting end, and is further beneficial to adjusting the position and the focal length of the emission unit 820 relative to the collimating lens.

When the position of the emission unit 820 relative to the collimating lens is adjusted, the housing 810 provided with the collimating lens is fixed on the fixing base 400, the emission unit 820 is arranged on the first supporting member 200, and the through hole 410 arranged on the fixing base 400 can allow the laser emitted by the emission unit 820 to pass through the through hole 410 after passing through the collimating lens, so that a CCD industrial camera and supporting software can be used for collecting the light spot image information of the laser on an imaging light screen, and the light spot shape and the energy intensity can be evaluated, thereby being beneficial to completing the adjustment work of the emission unit 820; moreover, the three-dimensional fine adjustment platform 100 is connected to the first supporting member 200, and can drive the first supporting member 200 to move along X, Y and Z directions, so as to conveniently and accurately adjust the three-dimensional position of the emission unit 820 relative to the collimating lens, thereby improving the adjustment effect.

In some embodiments, as shown in fig. 1-4, the lidar tuning apparatus further includes a second support 300.

The second support 300 is provided with a third connection end and a fourth connection end that can be connected with the receiving unit 830. The three-dimensional fine adjustment platforms 100 are two, the third connecting end is connected to the platform connecting end of one of the three-dimensional fine adjustment platforms 100 to adjust the position of the receiving unit 830 relative to the housing 810 with the receiving lens, and the first connecting end is connected to the platform connecting end of the other three-dimensional fine adjustment platform 100.

In the present embodiment, the three-dimensional fine-tuning stages 100 are disposed along the front-back direction at intervals and are symmetrically disposed about the fixing base 400, the first supporting member 200 is connected to the three-dimensional fine-tuning stage 100 located at the front side of the fixing base 400, and the second supporting member 300 is connected to the three-dimensional fine-tuning stage 100 located at the back side of the fixing base 400.

Specifically, the second support 300 includes a second link and a connection plate 320. One end of the second connecting rod is connected with the connecting plate 320 through a bolt, and the other end of the second connecting rod is connected with the platform connecting end through a bolt. The surface of the connecting plate 320 facing the receiving unit 830 is provided with a plurality of positioning pins 310 capable of being fittingly connected with the third positioning holes of the receiving unit 830.

In this embodiment, four positioning pins 310 are provided, the positioning pins 310 are connected to the connecting plate 320 through screws, and correspondingly, the receiving unit 830 is provided with four third positioning holes, and the third positioning holes are circular holes. The positioning pin 310 is correspondingly inserted into the third positioning hole of the receiving unit 830, so that the connection plate 320 and the receiving unit 830 can be quickly and detachably connected.

By operating the three-dimensional fine adjustment platform 100, the second support 300 is driven to drive the receiving unit 830 to move along the X direction, the Y direction and the Z direction, respectively, so as to adjust the position and the focal length of the receiving unit 830 relative to the receiving lens on the housing 810.

In some embodiments, as shown in fig. 1, 2 and 9, the lidar calibration apparatus further includes a base plate 700, a rotation member 600, and an image acquisition unit 500.

The base plate 700 is provided with mounting holes 710. In the present embodiment, the mounting holes 710 are threaded holes and are arranged in an array.

The fixing base 400 and the three-dimensional fine-tuning platform 100 are both connected to the substrate 700. In this embodiment, the fixing base 400 and the three-dimensional fine adjustment platform 100 are both provided with round holes, and are screwed into the mounting holes 710 after passing through the round holes through bolts. The fixing base 400 and the three-dimensional fine adjustment platform 100 are disposed on the substrate 700 to ensure that they are located on the same horizontal plane, which is beneficial to improving the adjustment effect.

The rotating member 600 may be a metal or plastic member, and the rotating member 600 has a first end and a second end, and the first end and the second end are opposite to each other.

The first end portion is connected with the bottom of the image acquisition unit 500, specifically, the image acquisition unit 500 is provided with a supporting leg 510, the supporting leg 510 is a cylinder, the bottom of the supporting leg 510 is provided with a circular block 520 with a diameter larger than that of the supporting leg 510, correspondingly, the first end portion is provided with a bayonet 620, the supporting leg 510 and the circular block 520 are arranged in the bayonet 620, and the inner wall surface of the bayonet 620 is correspondingly attached to the outer peripheral surface of the supporting leg 510 and the outer peripheral surface of the circular block 520, so that the image acquisition unit 500 can only rotate relative to the rotation member 600.

The second end portion is provided with a connection hole 610 for a fastening bolt to be connected to the mounting hole 710, and the connection hole 610 may be a kidney-shaped hole. After the position of the image capturing unit 500 is adjusted, the fastening bolt is inserted through the connecting hole 610 and screwed into the mounting hole 710, so that the second end of the rotating member 600 is fixedly connected to the substrate 700, and finally the image capturing unit 500 is stably fixed on the substrate 700, thereby preventing the image capturing unit 500 from shifting during the adjustment operation.

The image acquisition unit 500 is a CCD industrial camera, and can be connected to a computer equipped with a matching software and perform information transmission, and in the adjustment work, an imaging light screen is arranged between the fixing base 400 and the image acquisition unit 500, and laser is emitted from the emission unit 820 and is irradiated on the imaging light screen through the collimating lens and the through hole 410, and the image acquisition unit 500 can acquire image information on the imaging light screen, thereby evaluating the shape and energy intensity of a light spot by combining the matching software. Since the method of using the image acquisition unit 500 to use the spot image and complete the laser radar tuning belongs to the prior art, the detailed description is omitted.

While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the utility model as set forth in the claims appended hereto.

Claims

1. A laser radar tuning device is characterized by comprising:

the laser collimator comprises a fixed seat (400), a first connecting piece and a second connecting piece, wherein the fixed seat (400) is provided with the first connecting piece which can be connected with a shell (810) provided with a collimating lens, and the fixed seat (400) is provided with a through hole (410) for laser to pass through the collimating lens;

a first support (200) provided with a first connection end and a second connection end connectable with the emission unit (820);

a three-dimensional fine adjustment platform (100) provided with a platform connection end connected with the first connection end to adjust the three-dimensional position of the first support member (200).

2. The lidar tuning apparatus of claim 1, wherein the first support member (200) comprises a first linkage, a U-shaped plate (220), and a connection block (210); one end of the first connecting rod is connected with the U-shaped plate (220), and the other end of the first connecting rod is connected with the platform connecting end; the two positioning parts are arranged on the connecting block (210) and are symmetrically arranged relative to the transmitting unit (820), one end of the connecting block (210) is connected with the end part of the U-shaped plate (220), and the other end of the connecting block (210) protrudes towards the transmitting unit (820) to form a positioning part (212) which can be in adaptive connection with the first positioning hole of the transmitting unit (820).

3. The lidar calibrating device according to claim 2, wherein the U-shaped plate (220) is provided with a sliding slot (221) and a regulating waist-shaped hole (222), the regulating waist-shaped hole (222) is communicated with the sliding slot (221), and the length direction of the regulating waist-shaped hole (222) is consistent with the length direction of the sliding slot (221); the connecting blocks (210) are arranged in the sliding grooves (221) and can move along the sliding grooves (221), the two connecting blocks (210) can be close to or far away from each other, and the connecting blocks (210) are provided with screw holes through which bolts (230) can penetrate through the adjusting kidney-shaped holes (222) and are connected with the connecting blocks (210).

4. The lidar tuning device of claim 1, wherein the surface of the fixing base (400) facing the housing (810) is protruded to form a plurality of positioning posts (420) capable of being fittingly connected with the second positioning holes of the housing (810).

5. The lidar tuning device of any of claims 1-4, further comprising a second support (300); the second support (300) is provided with a third connecting end and a fourth connecting end which can be connected with a receiving unit (830); the three-dimensional fine adjustment platforms (100) are provided with two, the third connecting end is connected with the platform connecting end of one of the three-dimensional fine adjustment platforms (100) so as to adjust the position of the receiving unit (830) relative to the shell (810) provided with the receiving lens, and the first connecting end is connected with the platform connecting end of the other three-dimensional fine adjustment platform (100).

6. The lidar tuning apparatus of claim 5, wherein the second support (300) comprises a second link and a connecting plate (320); one end of the second connecting rod is connected with the connecting plate (320), and the other end of the second connecting rod is connected with the platform connecting end; the surface of the connecting plate (320) facing the receiving unit (830) is provided with a plurality of positioning pins (310) which can be matched and connected with the third positioning holes of the receiving unit (830).

7. The lidar tuning device of claim 5, further comprising a base plate (700), a rotor (600), and an image acquisition unit (500); the substrate (700) is provided with a mounting hole (710); the fixed seat (400) and the three-dimensional fine adjustment platform (100) are connected with the substrate (700); the rotating piece (600) is provided with a first end portion and a second end portion, the first end portion is connected with the bottom of the image acquisition unit (500), and the second end portion is provided with a connecting hole (610) for connecting a fastening bolt to the mounting hole (710).

8. The lidar tuning apparatus of claim 7, wherein the three-dimensional fine tuning platform (100) comprises an X-fine tuning mechanism (120), a Y-fine tuning mechanism (110), and a Z-fine tuning mechanism (130); the X-direction fine adjustment mechanism (120), the Y-direction fine adjustment mechanism (110) and the Z-direction fine adjustment mechanism (130) are connected in pairs and are arranged along the Z direction.

9. The lidar tuning apparatus of claim 8, wherein the X-fine tuning mechanism (120) and the Y-fine tuning mechanism (110) are identical in structure, and each comprise:

a base;

a micrometer;

a locking bolt;

10. The lidar tuning apparatus of claim 9, wherein the Z-fine tuning mechanism (130) comprises:

a third base (131);

a third movable base (132) connected to the third base (131) and movable in the Z direction with respect to the third base (131);

a third micrometer (135) connected to the third base (131), an axial direction of the third micrometer (135) being perpendicular to the Z direction;

the rotating arm (136) is L-shaped, the rotating arm (136) is provided with a first rotating arm and a second rotating arm, the rotating arm (136) is hinged with the third base (131) by taking a connecting point of the first rotating arm and the second rotating arm as a hinged point, and the first rotating arm is abutted with a third micrometer screw of a third micrometer (135);

a moving rod (137) connected to the third moving base (132), wherein the moving rod (137) is located above the rotating arm (136) and abuts against the second rotating arm;

a third locking bolt (133);

and one of the third limiting plate (134) and the third locking bolt (133) is connected with the third base (131), the other one of the third limiting plate (134) and the third locking bolt (133) is connected with the third movable seat (132), the third limiting plate (134) is provided with a third waist-shaped hole for the third locking bolt (133) to pass through, and the length direction of the third waist-shaped hole is consistent with the moving direction of the third movable seat (132).