CN216848130U - Automatic LiDAR multi-light-path power balancing system - Google Patents

Abstract

The utility model discloses a LiDAR multi-optical path power automatic balance system, but including optical power measurement system, quick change test fixture, product attitude adjustment system, product communication module, operate the computer cabinet and lower rack, optical power measurement system, but quick change test fixture, product attitude adjustment system, product communication module all install in last rack, be provided with integrated control system down in the rack, integrated control system passes through the product and leads to selection module and optical power measurement system, can quick change test fixture, product attitude adjustment system signal communication and be connected. The automatic balancing system can effectively realize full automation of LiDAR multi-optical-path power balance, and has high practicability.

Description

Automatic LiDAR multi-light-path power balancing system

Technical Field

The utility model relates to a many optical path power automatic balance system of LiDAR relates to LiDAR light path design technical field.

Background

During the light path design process of LiDAR, the return power is a very important parameter for LiDAR, whose mathematical model is:

wherein:

is the echo power;

is the transmit power;

is the receiver aperture;

is the object surface reflectivity;αis the angle of incidence;

is the system transmission rate;

is an atmospheric transfer rate.

It can be seen that the echo power is proportional to the transmit power, inversely proportional to the angle of incidence, and inversely proportional to the square of the distance. Then, the calibration of the emission power before product shipment and the power balance of multiple light paths become important.

However, the current LiDAR optical path design has the following characteristics from the detection perspective: the wavelength belongs to invisible light; a plurality of light paths; the emission angles of all light paths are different; the Tx lens module has certain errors in the assembling process; the product window is special-shaped; the optical power probe needs to be orthogonal to the optical path; the light path needs to be within a certain radius of the target center of the optical power probe; the optical power probe needs to be close to the surface of the product window.

In conclusion, in practical application, the light path cannot be directly distinguished through human eyes, so that the detection mode of the traditional handheld optical power probe is in a blind-man image-touching or excessively dependent on experience; moreover, the penetration mode is insufficient for single-light path measurement, and the measurement effect for multiple light paths and different emission angles is also poor.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve is: the multi-optical-path power automatic balancing system capable of realizing LiDAR multi-optical-path power balance in a full-automatic mode is provided.

In order to solve the technical problem, the utility model discloses a realize through following technical scheme:

a LiDAR multi-optical-path power automatic balancing system comprises an optical power measuring system, a quick-replaceable testing jig, a product posture adjusting system, a product communication module, an upper cabinet and a lower cabinet, wherein the optical power measuring system, the quick-replaceable testing jig, the product posture adjusting system and the product communication module are all installed in the upper cabinet, an integrated control system is arranged in the lower cabinet and is in signal communication connection with the optical power measuring system, the quick-replaceable testing jig and the product posture adjusting system through a product selection module.

Preferably, the front-back direction of the upper cabinet is the X direction, the up-down direction of the upper cabinet is the Z direction, the posture adjustment system comprises a base plate, an X-axis motion mechanism, a Z-axis motion mechanism and a two-degree-of-freedom adjustment mechanism, the base plate is horizontally fixed on the front side in the upper cabinet, the Z-axis motion mechanism is fixed below the base plate and used for the up-down lifting motion of the base plate, the two-degree-of-freedom adjustment mechanism is installed on a movable part of the X-axis motion mechanism through a fixed connection assembly and located above the X-axis motion mechanism, and the X-axis motion mechanism is installed on the base plate and used for the whole front-back horizontal motion of the two-degree-of freedom adjustment mechanism.

Preferably, the two-degree-of-freedom adjustment mechanism includes a Pitch rotation axis mechanism and a Yaw rotation axis mechanism which are integrally attached.

Preferably, but quick change test fixture is used for fixed product and carries the seat, rotatory cylinder, the signal connection cylinder of compressing tightly including the tool, tool year seat middle part is equipped with the profile modeling die cavity that is used for placing the product, and the cylinder body of rotatory cylinder that compresses tightly is fixed and is carried a side and its piston rod connection briquetting and be used for the action that compresses tightly at product top at the tool, signal connection flagpole is fixed and is carried the rear side of seat and be used for product and control system's signal connection at the tool, tool year seat is fixed on Yaw rotation axis mechanism.

Preferably, the optical power measuring system comprises a measuring jig base, an acquisition unit and a measuring unit, wherein the acquisition unit is installed on the front side of the measuring jig base and used for acquiring an optical path, the measuring unit is installed on the rear side of the measuring jig base and used for measuring optical power and is connected with the acquisition unit through a special cable, and the optical power measuring system is installed on the rear side of the upper cabinet and is arranged in a manner of being opposite to the front and the back of the quick-replaceable testing jig.

Preferably, the acquisition unit comprises an integrating sphere and a light power probe connected with the integrating sphere, and the central normal of the integrating sphere entrance hole passes through the center of the light path of the product and is orthogonal to the central shaft of the Yaw rotating shaft movement mechanism of the attitude adjusting system.

Compared with the prior art, the utility model discloses an useful part is: the automatic multi-light-path power balancing system for LiDAR multi-light-path power balancing can effectively realize full automation of LiDAR multi-light-path power balancing, improves reliability, stability, accuracy, consistency and compatibility, can be widely applied to other actual engineering requirements of LiDAR light-path power measurement and balancing, and has high practicability, wide application range and higher market prospect.

Description of the drawings:

in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts;

fig. 1 is a perspective view of the mounting structure of the system of the present invention;

fig. 2 is an installation perspective view of the optical power measuring system of the present invention;

FIG. 3 is a perspective view of the quick-replaceable testing jig of the present invention;

fig. 4 is a perspective view of the optical power measuring system, the quick-replaceable testing jig, and the product posture adjusting system of the present invention when assembled and combined;

fig. 5 is a perspective view of another viewing angle when the optical power measuring system, the quick-replaceable test fixture and the product posture adjusting system of the present invention are assembled;

fig. 6 is a control frame diagram of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention:

as shown in fig. 1 to 6, the automatic LiDAR multi-optical path power balancing system includes an optical power measuring system, a quick-replaceable test fixture, a product attitude adjusting system, a product communication module, an upper cabinet 1 and a lower cabinet 2, the optical power measuring system, the quick-replaceable testing jig, the product attitude adjusting system and the product communication module are all arranged in the upper cabinet, an integrated control system is arranged in the lower cabinet and is in signal communication connection with the optical power measuring system, the quick-replaceable testing jig and the product posture adjusting system through a product general selection module, in practical application, in order to facilitate operation and data realization, a display interface 3 connected with the integrated control system is arranged at the front side of the upper part of the upper cabinet, in addition, a control button 4 connected with the integrated control system is arranged on the front side of the lower cabinet, and the operation of the system is started through the control button; in addition, for convenient material loading, the front side is equipped with the feed port that conveniently with product material loading and take out on last rack, for improving the security, is equipped with the ya keli guard shield 5 that can open and shut in the feed port department.

In this implementation, as shown in fig. 4 and 5, in order to conveniently adjust the four-degree-of-freedom posture of the product, and meet the requirement of the angle of the test, the front-back direction of the upper cabinet is the X direction, and the up-down direction is the Z direction, the posture adjustment system includes a base plate 6, an X-axis motion mechanism 7, a Z-axis motion mechanism 8, and a two-degree-of-freedom adjustment mechanism, the base plate is horizontally fixed at the front side in the upper cabinet, the Z-axis motion mechanism is fixed below the base plate and used for the up-down lifting motion of the base plate, the two-degree-of-freedom adjustment mechanism is installed on the movable part of the X-axis motion mechanism through a fixed connection assembly and is located above the X-axis motion mechanism, and the X-axis motion mechanism is installed on the base plate and used for the whole front-back horizontal motion of the two-degree-of-freedom adjustment mechanism. Further, for the convenience of adjustment, the two-degree-of-freedom adjusting mechanism comprises a Pitch rotating shaft mechanism 9 and a Yaw rotating shaft mechanism 10 which are integrally installed. Therefore, in the actual adjusting process, the motion control module controls the operation of the attitude adjusting system, and the X-axis motion mechanism adjusts the distance between each light path and the entry hole of the integrating sphere through the X-direction motion module to ensure consistent space loss; because the light paths of the product are not distributed on a horizontal plane, the height of the Z-axis movement mechanism is adjusted through the Z-direction movement module to meet the position relation between each light path and the entry hole of the integrating sphere; in addition, the optical paths of the product are distributed on a plurality of planes, the emergent angles of the optical paths relative to the center of the optical paths are different, and the Pitch rotating shaft mechanism and the Yaw rotating shaft mechanism are used for adjusting the two-degree-of-freedom angle to meet the requirement that the emergent light of each optical path is emitted into the integrating sphere.

In addition, for improving the control accuracy, the motion modules of the X-axis motion mechanism and the Z-axis motion mechanism adopt linear motors, the accuracy is 1 μm, the angle adjustment accuracy of the rotary DD motors of the Pitch rotary shaft mechanism and the Yaw rotary shaft mechanism can reach 0.01 degrees, and the repetition accuracy reaches 0.01 degrees, so that the accurate incidence of the optical path into the integrating sphere is ensured under the condition that the size of the opening of the integrating sphere is relatively small.

In this embodiment, in order to facilitate the placement and the fixing of products and the powering on of the products, as shown in fig. 3, the quick-change test fixture is used for fixing the products and includes a fixture carrier 11, a rotary compressing cylinder 12, and an electrical signal connecting cylinder 13, the middle of the fixture carrier is provided with a profiling cavity 15 for placing the products 14, the cylinder body of the rotary compressing cylinder is fixed on the side of the fixture carrier and the piston rod thereof is connected with a pressing block and used for compressing the top of the products, the electrical signal connecting flag rod is fixed on the rear side of the fixture carrier and used for electrical signal connection between the products and the control system, the fixture carrier is fixed on the Yaw rotating shaft mechanism, in practical application, the fixture base is pin-hole matched with the movable part of the Yaw rotating shaft mechanism to ensure the repeatability quick change and the position consistency, so that in practical application, the products are first placed in the profiling cavity, and then controlling the rotary compaction cylinder to drive the pressing block to rotate to the top of the product and compress the product downwards, and then starting the electric signal connection cylinder to electrify the product.

In this embodiment, for the convenience of measuring the optical power and for improving the measurement effect, as shown in fig. 2, the optical power measurement system includes a measurement fixture base 16, an acquisition unit 17 and a measurement unit 18, the acquisition unit is installed at the front side of the measurement fixture base and is used for the acquisition of the optical path, the measurement unit is installed at the rear side of the measurement fixture base and is used for the measurement of the optical power and is connected with the acquisition unit through a dedicated cable, and the optical power measurement system is installed at the rear side of the upper cabinet and is arranged opposite to the front and back of the quick-change test fixture. In order to improve the measurement effect, the acquisition unit comprises an integrating sphere and a light power probe connected with the integrating sphere, the integrating sphere and the light power probe are both installed and fixed in a shell, and the central normal of an entry hole of the integrating sphere passes through the center of a light path of a product and is orthogonal to the central shaft of a Yaw rotating shaft movement mechanism of the attitude adjustment system, so that the origin of a track space is conveniently established by the center of the light path. In order to improve the data transmission efficiency, the self-balancing system further comprises an Ethernet module, and information such as measurement data is transmitted through the Ethernet module and the product communication module.

In the actual measuring process, firstly, a product is put into a profiling cavity capable of quickly changing a test fixture

The acrylic festoons are closed, the control button is pressed to start operation, the control system controls the rotary compacting cylinder to fix the product, then the electric signal is connected with the cylinder to act, and the control system is connected with the product through the electric signal; then the control system automatically loads the four-degree-of-freedom motion trail and the parameter formula of the product; then controlling a four-degree-of-freedom posture adjusting system consisting of the X-axis motion mechanism, the Z-axis motion mechanism, the Pitch rotating shaft mechanism and the Yaw rotating shaft mechanism to adjust the posture of the product according to the four-degree-of-freedom motion track; meanwhile, an optical power measuring system consisting of the acquisition unit and the measuring unit is controlled to measure the power of each optical path, then the measured data is calculated and recorded into a product, the product is electrified again, the motion track is executed again, the power value of each optical path is measured, and the deviation between the measured value and the expected value is calculated; if the deviation is within the preset range, ending the step, otherwise, repeatedly executing the steps, or ending the step after the preset maximum number of attempts is exceeded; after the self-balancing process is finished, the background terminal of the control system can display whether the final automatic balancing is successful or not on the display interface, and thus the self-balancing process is finished.

In this embodiment, the method further comprises a balancing method of a LiDAR multi-optical-path power automatic balancing system, comprising the following steps of firstly, teaching to generate a four-degree-of-freedom track of a product; in practical application, in order to facilitate teaching, the teaching process comprises the following steps of a, importing a CAD drawing of a product; b, adding special test paper at the entrance hole of the integrating sphere to enable spots on a LiDAR light path to be visible, wherein the test paper has a target pattern, and the target center is superposed with the center of the entrance hole of the integrating sphere; c, putting the product into the quick-replaceable testing jig and pressing a control button to start system operation; and d, controlling the posture adjustment system to operate, wherein a posture adjustment algorithm is preset in the posture adjustment system, so that the control system can know the product structure through the posture adjustment algorithm and according to the CAD drawing file, further obtaining the position and angle relation between the light path center and each light path, finally automatically generating a four-4-degree-of-freedom motion track, detecting whether each light path spot is in the test paper target or not by the aid of human eyes, finishing the teaching if the light path spot is in the test paper target, checking the CAD drawing file if the light path spot is not in the test paper target, and repeating the operations from the step a to the step d until the requirement is met, thereby finishing the teaching process.

Secondly, putting a product into a profiling cavity of the quick-replaceable test fixture, and pressing a start control button to start operation; thirdly, after the control system controls the rotary compaction cylinder to fix the product, the control system is electrically connected with the cylinder to act, and the control system is electrically connected with the product; step four, the control system automatically loads the motion trail of the four degrees of freedom generated during teaching and the parameter formula of the product; fifthly, controlling a four-degree-of-freedom posture adjusting system consisting of the X-axis motion mechanism, the Z-axis motion mechanism, the Pitch rotating shaft mechanism and the Yaw rotating shaft mechanism to adjust the posture of the product according to the four-degree-of-freedom motion track; sixthly, controlling an optical power measuring system consisting of the acquisition unit and the measuring unit to measure the power of each optical path, wherein the measuring unit is an optical power meter for improving the measuring effect; step seven, according to the obtained power measurement values of all the optical paths, obtaining an optimal correction parameter through least square normal linear fitting, and further calculating a PWM pulse width value; then, the burning parameters can be known through the PWM pulse width value and burning parameter lookup table, and the burning parameters are written into the product through the product communication module, and meanwhile, the power value of each light path, the PWM pulse width value and the burning parameters can be displayed in real time on a display interface on the upper cabinet; in addition, in order to reduce the system error caused by the transmission loss of the optical power measurement system and the optical path, in this embodiment, a calibration method may be adopted to perform compensation in the processing process of the measurement data, where the calibration method includes the steps of firstly using a laser light source with standard power and a wavelength close to each other as an excitation source; then, setting the position of an excitation source according to the distance between the integrating sphere and the product light path during actual measurement; then, after sampling for multiple times, obtaining a correction parameter; finally, storing the data to the local PC for later-stage product measurement compensation; step eight, re-electrifying the product, executing the motion track again, measuring the power value of each light path, and calculating the deviation between the measured value and the expected value; step nine, if the deviation is within the preset range, ending the step, otherwise, repeatedly executing the steps three to seven or ending the step after the preset maximum number of attempts is exceeded; and step ten, displaying a final automatic balancing result on a background terminal display interface of the control system, namely a display interface on the upper cabinet.

The LiDAR multi-light-path power automatic balancing system and the LiDAR multi-light-path power automatic balancing method have the advantages that firstly, automatic track planning can be realized, a four-degree-of-freedom motion track is automatically generated by adding a new model and importing through a CAD drawing file, and teaching can be completed by adding simple observation assistance, so that the method is simple and has low requirements on operators; in addition, for products with multiple light paths and special windows, the operation is convenient, and the time is saved; moreover, the posture can be adjusted according to the product structure, and the consistency of each optical path and the position of the entrance of the integrating sphere is improved; finally, the repeatability of the movement can be ensured.

And secondly, the optical power measurement system with the integrating sphere in the system has strong compatibility to the emission angle, and the light path of the LiDAR finished product is collimated. The light path only needs to be shot into the opening of the integrating sphere, the incident angle does not need to be considered, and the power collected by the optical power probe is consistent; in addition, the assembly error of the single-channel Tx lens module is not influenced by the assembly error of the Tx lens module, and the assembly error of the single-channel Tx lens module is about 3mm and the light spot is about 2 mm. The size of the opening of the integrating sphere is selected to be slightly larger than the assembly error, and the automatic trajectory planning is combined, so long as the light path can be ensured to be capable of entering the opening of the integrating sphere. Even if the light rays are worried about escaping from the opening through multiple reflections in the integrating sphere, the light rays can be compensated through a calibration method. And then, the optical power probe is not required to be orthogonal to the optical path, the optical path is emitted into the opening of the integrating sphere, and the power collected by the optical power probe is consistent whether the incident angle is orthogonal or not. Finally, the coupling of the incident position of the light path is low, and the traditional mode requires that the light path is within a certain radius of the target center of the optical power probe and is orthogonal, and the amplitude is high. Due to factors such as product assembly error and attitude repeatability, the measurement result is affected. Only the light path needs to be ensured to be incident into the opening of the integrating sphere, and the incident position does not need to be considered.

It is to be emphasized that: the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention in any form, and any simple modifications, equivalent changes and modifications made by the technical spirit of the present invention to the above embodiments are all within the scope of the technical solution of the present invention.

Claims (6)

1. A LiDAR multi-light path power automatic balancing system, characterized by: the device comprises an optical power measuring system, a quick-replaceable testing jig, a product posture adjusting system, a product communication module, an upper cabinet and a lower cabinet, wherein the optical power measuring system, the quick-replaceable testing jig, the product posture adjusting system and the product communication module are all installed in the upper cabinet, an integrated control system is arranged in the lower cabinet, and the integrated control system is in signal communication connection with the optical power measuring system, the quick-replaceable testing jig and the product posture adjusting system through a product general selection module.

2. The LiDAR multi-light path power automatic balancing system of claim 1, wherein: the front-back direction of the upper cabinet is X direction, the up-down direction is Z direction, the posture adjustment system comprises a base plate, an X-axis motion mechanism, a Z-axis motion mechanism and a two-degree-of-freedom adjusting mechanism, the base plate is horizontally fixed on the front side of the upper cabinet, the Z-axis motion mechanism is fixed below the base plate and used for up-down movement of the base plate, the two-degree-of-freedom adjusting mechanism is installed on the movable part of the X-axis motion mechanism through a fixed connection assembly and located above the X-axis motion mechanism, and the X-axis motion mechanism is installed on the base plate and used for horizontal motion of the whole front-back of the two-degree-of-freedom adjusting mechanism.

3. The LiDAR multi-light path power automatic balancing system of claim 2, wherein: the two-degree-of-freedom adjusting mechanism comprises a Pitch rotating shaft mechanism and a Yaw rotating shaft mechanism which are integrally installed.

4. The LiDAR multi-optical path power auto-balancing system of claim 3, wherein: but quick change test fixture is used for fixed product and includes that the tool carries a seat, rotatory cylinder, the signal connection cylinder that compresses tightly, the tool carries a seat middle part and is equipped with the profile modeling die cavity that is used for placing the product, and the cylinder body that the rotatory cylinder that compresses tightly is fixed and is carried a seat side and its piston rod at the tool and connect a briquetting and be used for the action that compresses tightly at product top, signal connection flagpole is fixed and is carried the rear side of seat and be used for product and control system's signal connection at the tool, the tool carries the seat to fix on Yaw rotation axis mechanism.

5. The LiDAR multi-optical path power auto-balancing system of claim 4, wherein: the optical power measuring system comprises a measuring jig base, an acquisition unit and a measuring unit, wherein the acquisition unit is installed on the front side of the measuring jig base and used for acquiring an optical path, the measuring unit is installed on the rear side of the measuring jig base and used for measuring optical power and is connected with the acquisition unit through a special cable, and the optical power measuring system is installed on the rear side of an upper cabinet and is arranged relatively to the front and the rear of the quick-replaceable testing jig.

6. The LiDAR multi-optical path power auto-balancing system of claim 5, wherein: the collecting unit comprises an integrating sphere and a light power probe connected with the integrating sphere, and the central normal of the integrating sphere entering the perforation passes through the center of the light path of the product and is orthogonal to the central shaft of the Yaw rotating shaft movement mechanism of the attitude adjusting system.

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