CN220105286U - Full-automatic laser radar reflector AA equipment and laser radar equipment mechanism - Google Patents

Abstract

The utility model relates to the technical field of mechanical equipment, and discloses full-automatic laser radar reflector AA equipment and a laser radar assembly mechanism. The full-automatic laser radar reflector AA equipment comprises a first position adjusting mechanism, a second position adjusting mechanism and an imaging detection mechanism, the position of the laser radar is fixed and adjusted through the first position adjusting mechanism, the position of the reflector relative to the laser radar is adjusted through a second position assembly, the imaging position of the fourth beam is detected through the formed fourth beam and the imaging detection mechanism, after the preset position is met, the later assembly is carried out, if the preset position is not met, the position between the laser radar and the reflector is adjusted through the first position adjusting mechanism or the second position adjusting mechanism until the preset position is met. Compared with the prior art, the position accuracy between the laser radar and the reflecting mirror can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.

Description

Full-automatic laser radar reflector AA equipment and laser radar equipment mechanism

Technical Field

The utility model relates to the technical field of mechanical equipment, in particular to full-automatic laser radar reflector AA equipment and a laser radar assembly mechanism.

Background

Besides the laser ranging technology, the laser radar also develops various technologies such as laser tracking, laser speed measurement, laser scanning imaging, laser Doppler imaging and the like, and is widely applied to the fields such as robots, unmanned aerial vehicles, VR/AR, intelligent transportation, ocean exploration, 3D printing and the like. For example, in the fields of robots, unmanned planes and the like, the laser radar can assist in sensing surrounding environments, and the functions of autonomous map building, path planning, autonomous obstacle avoidance and the like are realized. In order to improve the application range of the laser radar, the positions of all optical elements in the laser radar need to be assembled and positioned, if the reflectors need to be assembled on the laser radar component, however, most of existing products are glued on the laser radar component through simple measurement and positioning during assembly, and finally the formed laser radar product is poor in imaging precision and low in qualification rate.

Disclosure of Invention

In order to solve the technical problems of low assembly precision and poor imaging precision of a laser radar component and a reflecting mirror, the main purpose of the utility model is to provide full-automatic laser radar reflecting mirror AA equipment and a laser radar assembly mechanism which can accurately adjust the assembly position of the laser radar component and the reflecting mirror, and are high in assembly precision and imaging precision.

In order to achieve the aim of the utility model, the utility model adopts the following technical scheme:

according to one aspect of the present utility model, there is provided a fully automated lidar mirror AA device comprising:

the first position adjusting mechanism is provided with a first fixed position, the laser radar is arranged at the first fixed position and comprises a light source emitter, a first light source processing piece and a second light source processing piece, the light source emitter is arranged at a first working position and is used for emitting a first light beam which propagates along a first path, the first light source processing piece is used for transmitting the first light beam to the second light source processing piece along the first path, the first light beam passes through the second light source processing piece and then forms a second light beam which propagates along a second path and a third light beam which propagates along a third path, a first included angle is formed between the second light beam and the third light beam, and a second included angle is formed between the second light beam and the first light beam;

the second position adjusting mechanism is provided with a second fixed position, the reflecting mirror is arranged at the second fixed position, and the second position adjusting mechanism is used for adjusting the position of the reflecting mirror relative to the third light beam so that the third light beam is reflected by the reflecting mirror to form a fourth light beam which is transmitted along a fourth path;

and the imaging detection mechanism is used for receiving the fourth light beam transmitted by the fourth path and detecting the imaging position of the fourth light beam.

According to an embodiment of the present utility model, the first light source processing element is a collimator, the second light source processing element is a beam splitter, a third included angle is formed between the beam splitter and the first path, the third included angle is 45 °, so that the first included angle is zero, the second included angle is 90 °, the first path and the second path are overlapped, the reflector is parallel to the beam splitter, so that the fourth path is parallel to the first path, and an included angle between the fourth path and the third path is 90 °.

According to an embodiment of the present utility model, the first position adjusting mechanism further includes a return device, the return device is disposed at the third fixed position, the second light beam is transmitted to the return device along a second path, and then the return device returns the second light beam to the second light source processing part, so that the second light beam and the third light beam are converged along a third path to form a converged light beam, and the converged light beam is transmitted to the second fixed position and is transmitted through the fourth path after being radiated by the reflecting mirror to form the fourth light beam.

According to an embodiment of the present utility model, the imaging detection mechanism includes an image receiving element on which the fourth light beam transmitted by the fourth path forms an image, and an image capturing element for capturing the image formed on the image receiving element.

According to an embodiment of the present utility model, the image receiving element is a receiving target surface, and the image capturing element is a 3D image capturing camera.

According to an embodiment of the present utility model, the first position adjusting mechanism includes a first three-coordinate adjusting mechanism and a first angle adjusting mechanism, the first angle adjusting mechanism is disposed on the first three-coordinate adjusting mechanism, the first fixing position is disposed on the first angle adjusting mechanism, the first three-coordinate adjusting mechanism is used for adjusting positions of the first angle adjusting mechanism on an X axis, a Y axis and a Z axis, and the first angle adjusting mechanism is used for adjusting inclination angles of the first fixing position relative to the X axis, the Y axis and the Z axis.

According to an embodiment of the present utility model, the second position adjustment mechanism includes a second three-coordinate adjustment mechanism and an angle adjustment mechanism, the angle adjustment mechanism is disposed on the second three-coordinate adjustment mechanism, the second fixed position is disposed on the angle adjustment mechanism, the second three-coordinate adjustment mechanism is used for adjusting positions of the angle adjustment mechanism on an X axis, a Y axis and a Z axis, and the angle adjustment mechanism is used for adjusting inclination angles of the second fixed position relative to the X axis, the Y axis and the Z axis, where the first three-coordinate adjustment mechanism and the second three-coordinate adjustment mechanism share a three-coordinate system.

According to an embodiment of the present utility model, further comprising:

the controller is electrically connected with the first position adjusting mechanism, the second position adjusting mechanism and the imaging detection mechanism to control the start-stop states of the first position adjusting mechanism, the second position adjusting mechanism and the imaging detection mechanism;

the processor is electrically connected with the controller, and is used for receiving the imaging position signals acquired by the imaging detection mechanism, and the processor is used for judging and processing the imaging position signals so as to enable the first position adjustment mechanism, the second position adjustment mechanism and the start-stop state of the imaging detection mechanism to be adjusted through the controller.

According to another aspect of the present utility model, there is provided a lidar assembly mechanism comprising the fully automated lidar mirror AA device described above.

According to an embodiment of the utility model, the laser radar comprises a laser radar body, a control component and a dispensing mechanism, wherein the dispensing mechanism is electrically connected with the control component and is used for assembling the reflecting mirror on the laser radar body.

According to the technical scheme, the full-automatic laser radar reflector AA equipment and the laser radar assembly mechanism have the advantages that:

full-automatic laser radar speculum AA equipment includes first position adjustment mechanism, second position adjustment mechanism and formation of image detection mechanism, carry out the fixed and the adjustment of position to the laser radar through first position adjustment mechanism, adjust the position of speculum relative laser radar through second position subassembly, detect the fourth light beam formation of image position through fourth light beam that forms and through formation of image detection mechanism, after meeting the default position, assemble after carrying out, if do not meet the default position, adjust the position between laser radar and the speculum through first position adjustment mechanism or second position adjustment mechanism, until meeting the default position. Compared with the prior art, the position accuracy between the laser radar and the reflecting mirror can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic diagram of a far-away structure of a full-automatic laser radar reflector AA device according to an embodiment of the present utility model;

fig. 2 is a schematic diagram of a far-away structure of a full-automatic laser radar reflector AA device according to an embodiment of the present utility model;

fig. 3 is a schematic diagram of the overall structure of a first position adjusting mechanism in a full-automatic laser radar reflector AA device according to an embodiment of the present utility model;

fig. 4 is a schematic diagram of the overall structure of a second position adjusting mechanism in a full-automatic laser radar reflector AA device according to an embodiment of the present utility model;

fig. 5 is a schematic diagram of the overall structure of an imaging detection mechanism in a full-automatic laser radar reflector AA device according to an embodiment of the present utility model;

fig. 6 is a schematic diagram of an overall structure of a glue dispensing mechanism in a laser radar assembly mechanism according to an embodiment of the present utility model;

fig. 7 is a schematic diagram of an overall structure of a clamping jaw assembly in a lidar assembly mechanism according to an embodiment of the present utility model.

Wherein:

100. a first position adjustment mechanism; 11. a first fixed location; 12. a third fixed position; 13. first three-coordinate adjusting mechanism

200. A laser radar; 21. a light source emitter; 22. a first light source processing member; 23. a second light source processing member;

300. a second position adjustment mechanism; 31. a second fixed position; 32. a second three-coordinate adjustment mechanism; 33. an angle adjusting mechanism;

400. an imaging detection mechanism; 41. an image receiving element; 42. an image acquisition element;

500. a return device;

600. a dispensing mechanism;

10. a reflecting mirror; 20. a jaw assembly.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Besides the laser ranging technology, the laser radar also develops various technologies such as laser tracking, laser speed measurement, laser scanning imaging, laser Doppler imaging and the like, and is widely applied to the fields such as robots, unmanned aerial vehicles, VR/AR, intelligent transportation, ocean exploration, 3D printing and the like. For example, in the fields of robots, unmanned planes and the like, the laser radar can assist in sensing surrounding environments, and the functions of autonomous map building, path planning, autonomous obstacle avoidance and the like are realized. In order to improve the application range of the laser radar, the positions of all optical elements in the laser radar need to be assembled and positioned, if the reflectors need to be assembled on the laser radar component, however, most of existing products are glued on the laser radar component through simple measurement and positioning during assembly, and finally the formed laser radar product is poor in imaging precision and low in qualification rate.

The Active Alignment technology is a technology of processing images of specific targets shot by a Sensor to obtain different field definition and resolution values, and then automatically feeding back and controlling a 6-degree-of-freedom mobile platform to align Lens with the Sensor, and performing glue printing and UV curing. The difference from Passive Alignment (passive alignment) is that alignment is not performed with an external position or size, but with an image captured by a Sensor, which is Active, and is called AA.

The AA equipment is automatic precise equipment which connects the traditional front-section equipment and the back-section equipment together, and integrates the processes of focusing, dispensing, aligning, compensating, UV curing, testing and the like. The method is widely applied to the fields of mobile phone cameras, vehicle-mounted cameras, security lenses, VR/AR, laser radars and the like.

In order to solve the technical problems of low assembly precision and poor imaging precision of a laser radar component and a reflecting mirror, the main purpose of the utility model is to provide full-automatic laser radar reflecting mirror AA equipment and a laser radar assembly mechanism which can accurately adjust the assembly position of the laser radar component and the reflecting mirror, and are high in assembly precision and imaging precision. According to one aspect of the present utility model, a full-automatic lidar mirror AA apparatus is provided, comprising a first position-adjustment mechanism 100, a second position-adjustment mechanism 300, and an imaging detection mechanism 400

The first position adjusting mechanism 100 is provided with a first fixed position 11, the laser radar 200 is arranged at the first fixed position 11, the laser radar 200 comprises a light source emitter 21, a first light source processing piece 22 and a second light source processing piece 23, the light source emitter 21 is arranged at a first working position, the light source emitter 21 is used for emitting a first light beam propagating along a first path, the first light source processing piece 22 is used for transmitting the first light beam to the second light source processing piece 23 along the first path, the first light beam passes through the second light source processing piece 23 to form a second light beam propagating along a second path and a third light beam transmitting along a third path, wherein a first included angle is formed between the second light beam and the third light beam, and a second included angle is formed between the second light beam and the first light beam;

the second position adjusting mechanism 300 is provided with a second fixed position 31, the reflecting mirror 10 is arranged at the second fixed position 31, and the second position adjusting mechanism 300 is used for adjusting the position of the reflecting mirror 10 relative to the third light beam so that the third light beam forms a fourth light beam which is transmitted along a fourth path after being reflected by the reflecting mirror 10;

an imaging detection mechanism 400 for receiving the fourth light beam transmitted by the fourth path, the imaging detection mechanism 400 being configured to detect an imaging position of the fourth light beam.

Referring to fig. 1 to 5, the full-automatic laser radar 200 mirror 10AA apparatus includes a first position adjustment mechanism 100, a second position adjustment mechanism 300, and an imaging detection mechanism 400, the position of the laser radar 200 is fixed and adjusted by the first position adjustment mechanism 100, the position of the mirror 10 relative to the laser radar 200 is adjusted by the second position assembly, the imaging position of the fourth beam is detected by the fourth beam formed and by the imaging detection mechanism 400, after a preset position is satisfied, the subsequent assembly is performed, and if the preset position is not satisfied, the position between the laser radar 200 and the mirror 10 is adjusted by the first position adjustment mechanism 100 or the second position adjustment mechanism 300 until the preset position is satisfied. Compared with the prior art, the position accuracy between the laser radar 200 and the reflecting mirror 10 can be effectively improved, so that the subsequent assembly progress is improved, and the qualification rate of products is improved.

In one example of the present utility model, when the position of the laser radar 200 needs to be adjusted, the position of the second position adjustment mechanism 300 is kept unchanged, that is, the position and the angle of the reflecting mirror 10 are not changed, and the first position adjustment mechanism 100 adjusts the position of the first fixed bit 11, so as to change the path and the relative angle of the optical paths of the first path, the second path, the third path and the fourth path.

In another example of the present utility model, when the position of the reflecting mirror 10 needs to be adjusted, the position of the first position adjusting mechanism 100 is kept unchanged, that is, the position and the angle of the laser radar 200 are not changed, and the second position adjusting mechanism 300 adjusts the position of the second fixed bit 31, so as to change the path and the relative angle of the optical paths of the first path, the second path, the third path and the fourth path.

In the above embodiment, after the propagation path and the relative angle of the optical path are changed, the spot position information and the image information formed in the imaging detection mechanism 400 by the fourth light beam are finally affected, the imaging detection mechanism 400 detects the spot position and the image information of the spot in real time, compares the detected spot position and the detected spot image information with the preset position and the preset image information, and if the detected spot position and the detected spot image information are in accordance with the preset position and the preset image, determines that the positions of the reflector 10 and the laser radar 200 are in accordance with the standard at the moment, and then performs assembly between the reflector 10 and the laser radar 200.

In the process of position adjustment, in order to avoid that other variables influence the propagation path of the final light path, the relative positions of the first light source processing part 22 and the second light source processing part 23 are fixed, that is, the positions of the first light source processing part 22 and the second light source processing part 23 can be set as standard parts, and the positions of the standard parts are not changed during the assembly between the laser radar 200 parts of the assembly reflector 10, so that the light spot forming precision is improved, the detection precision is improved, and the assembly qualification rate of the final reflector 10 and the laser radar 200 parts can be improved.

According to an embodiment of the present utility model, the first light source processing part 22 is a collimator, the second light source processing part 23 is a beam splitter, a third included angle is formed between the beam splitter and the first path, the third included angle is 45 ° so that the first included angle is zero, the second included angle is 90 °, the first path coincides with the second path, the reflector 10 is disposed parallel to the beam splitter so that the fourth path is parallel to the first path, and the included angle between the fourth path and the third path is 90 °. The first light beam emitted by the light source emitter 21 and propagating along the first path is focused by the collimator and then propagates to the second light source processing part 23 along the first path, in one example of the present utility model, the second light source processing part 23 is a beam splitter, and the second light beam is overlapped with the first path through a third included angle of 45 degrees, so that loss in the light beam propagation process is reduced.

Referring to fig. 1 and 2, when the reflecting mirror 10 is disposed parallel to the beam splitter so that the fourth path is parallel to the first path and the included angle between the fourth path and the third path is 90 °, the included angle between the third beam and the second beam can be effectively controlled to be 90 °, the volume occupied by the device is reduced, and the optical paths are reasonably arranged and laid out.

According to an embodiment of the present utility model, the first position adjusting mechanism 100 further includes a return device 500, where a third fixed position 12 is provided on the first position adjusting mechanism 100, the return device 500 is disposed on the third fixed position 12, after the second light beam is transmitted to the return device 500 along a second path, the return device 500 returns the second light beam to the second light source processing part 23, so that the second light beam and the third light beam form a converging light beam after converging along a third path, and the converging light beam is transmitted to the second fixed position 31, and the fourth light beam is transmitted through the fourth path after being radiated by the reflecting mirror 10.

The second light beam is returned to the second light source processing part 23 through the return device 500, and then the second light beam and the third light beam propagating along the third path are converged to form a converged light beam, so that the converged light beam also propagates along the third path, and the light beam which can be transmitted to the surface of the reflecting mirror 10 is further improved, and the definition of final imaging is improved.

According to an embodiment of the present utility model, the imaging detection mechanism 400 includes an image receiving element 41 and an image capturing element 42, where the fourth light beam transmitted by the fourth path forms an image on the image receiving element 41, and the image capturing element 42 is configured to capture the image formed on the image receiving element 41.

The image receiving element 41 comprises an imaging target surface of the light spot, the image collecting element 42 comprises a lens assembly, preferably, the image receiving element 41 is a receiving target surface, and the image collecting element 42 is a 3D image collecting camera.

The fourth light beam forms a spot image with a shape on the receiving target surface, the position and image information of the image relative to the receiving target surface are collected by the 3D image capturing camera and compared with the standard value, so as to verify the position and angle relation between the laser radar 200 (Base) and the reflecting mirror 10, and thus the position adjustment is conveniently performed in real time by the first position adjusting mechanism 100 or the second position adjusting mechanism 300.

Referring to fig. 3, according to an embodiment of the present utility model, the first position adjusting mechanism 100 includes a first three-coordinate adjusting mechanism 13, the first fixed position 11 is disposed on the first three-coordinate adjusting mechanism 13, and the first three-coordinate adjusting mechanism 13 is used for adjusting the position of the first fixed position 11 in the X-axis, the Y-axis, and the Z-axis.

As an example, the first fixing position 11 may be set by a fixing jig, and the position of the laser radar 200 in the first fixing position 11 may be adjusted by a three-axis electric push rod of the X-axis, the Y-axis and the Z-axis, and the first position adjusting mechanism 100 may be electrically connected to the controller and the processor to control the working states of the X-axis, the Y-axis and the Z-axis electric cylinders in the first three-coordinate adjusting mechanism 13.

Referring to fig. 4, according to an embodiment of the present utility model, the second position adjusting mechanism 300 includes a second three-coordinate adjusting mechanism 32 and an angle adjusting mechanism 33, the angle adjusting mechanism 33 is disposed on the second three-coordinate adjusting mechanism 32, the second fixed position 31 is disposed on the angle adjusting mechanism 33, the second three-coordinate adjusting mechanism 32 is used for adjusting the position of the angle adjusting mechanism 33 on the X-axis, the Y-axis and the Z-axis, and the angle adjusting mechanism 33 is used for adjusting the inclination angle of the second fixed position 31 relative to the X-axis, the Y-axis and the Z-axis, wherein the first three-coordinate adjusting mechanism 13 and the second three-coordinate adjusting mechanism 32 share a three-coordinate system.

The second three-coordinate adjusting mechanism 32 can adjust the position of the angle adjusting mechanism 33 in the three-coordinate system, and the angle adjusting mechanism 33 can adjust the angle of the reflecting mirror 10 in the three-coordinate system, so that the position of the reflecting mirror 10 relative to the laser radar 200 can be adjusted conveniently according to the position of the light spot on the receiving target surface.

By controlling the propagation path of the fourth beam, that is, the propagation direction of the fourth path, through the angle adjusting mechanism 33, the position of the light spot on the receiving target surface is further affected, and thus the position of the reflecting mirror 10 relative to the laser radar 200 can be reversely adjusted according to the position of the light spot.

In another embodiment, the reflecting mirror 10 can be clamped by the clamping jaw assembly 20, the reflecting mirror 10 is arranged on the second fixed position 31, whether the reflecting mirror 10 exists in the second fixed position 31 or not is detected by the control assembly, when the reflecting mirror 10 and the laser radar 200 are assembled, the combined product of the reflecting mirror 10 and the laser radar 200 is taken away by the clamping jaw assembly 20, and one reflecting mirror 10 is taken by the clamping jaw assembly 20 and is placed on the second fixed position 31, so that the assembly efficiency and the assembly precision are further improved.

Referring to fig. 5, according to an embodiment of the present utility model, the control unit further includes a control unit (not shown), where the control unit includes a controller (not shown) and a processor (not shown), and the controller is electrically connected to the first position adjustment mechanism 100, the second position adjustment mechanism 300, and the imaging detection mechanism 400, so as to control the on-off states of the first position adjustment mechanism 100, the second position adjustment mechanism 300, and the imaging detection mechanism 400; the processor is electrically connected to the controller, and is configured to receive the imaging position signal obtained by the imaging detection mechanism 400, and the processor is configured to determine the imaging position signal, so that the controller adjusts the on-off states of the first position adjustment mechanism 100, the second position adjustment mechanism 300, and the imaging detection mechanism 400.

Imaging data of the imaging detection mechanism 400 are sorted and compared through the controller and the processor, and the starting and stopping of the first position adjustment mechanism 100 and the second position adjustment mechanism 300 are controlled according to the comparison result, so that the relative positions between the laser radar 200 and the reflecting mirror 10 are calibrated, and the assembly precision of the laser radar 200 parts and the reflecting mirror 10 is improved.

According to another aspect of the present utility model, there is provided a laser radar 200 assembly mechanism including the fully automated laser radar 200 mirror 10AA apparatus described above.

Referring to fig. 6, according to an embodiment of the present utility model, a dispensing mechanism 600 is further included, the dispensing mechanism 600 is electrically connected to the controller, and the dispensing mechanism 600 is used to mount the reflecting mirror 10 on the laser radar 200. The laser radar 200 parts calibrated by the automatic calibration mechanism and the reflecting mirror 10 are subjected to dispensing through the dispensing mechanism 600, UV curing treatment is further carried out, and then the assembly of the laser radar 200 parts is completed, and the assembly precision is improved through the automatic calibration mechanism and the precision of a base+reflecting mirror 10 product is improved.

Referring to fig. 7, in another embodiment, the clamping jaw assembly 20 is used to feed or discharge the reflecting mirror 10 and the laser radar 200, or the feeding assembly and the discharging assembly are used to shift the positions of the laser radar 200 and the reflecting mirror 10, so as to further improve the assembly efficiency.

It should be noted that in this document, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A full-automatic lidar mirror AA device comprising:

the first position adjusting mechanism (100) is provided with a first fixed position (11), the laser radar (200) is arranged at the first fixed position (11), the laser radar (200) comprises a light source emitter (21), a first light source processing piece (22) and a second light source processing piece (23), the light source emitter (21) is used for emitting a first light beam which propagates along a first path, the first light source processing piece (22) is used for transmitting the first light beam to the second light source processing piece (23) along the first path, the first light beam passes through the second light source processing piece (23) to form a second light beam which propagates along a second path and a third light beam which propagates along a third path, wherein a first included angle is formed between the second light beam and the third light beam, and a second included angle is formed between the second light beam and the first light beam;

the second position adjusting mechanism (300) is provided with a second fixed position (31), the reflector (10) is arranged at the second fixed position (31), and the second position adjusting mechanism (300) is used for adjusting the position of the reflector (10) relative to the third light beam so that the third light beam is reflected by the reflector (10) to form a fourth light beam which is transmitted along a fourth path;

and the imaging detection mechanism (400) is used for receiving the fourth light beam transmitted by the fourth path, and the imaging detection mechanism (400) is used for detecting the imaging position of the fourth light beam.

2. The full-automatic lidar mirror AA apparatus according to claim 1, wherein the first light source processing member (22) is a collimator, the second light source processing member (23) is a beam splitter, a third angle is formed between the beam splitter and the first path, the third angle is 45 ° so that the first angle is zero, the second angle is 90 °, the first path coincides with the second path, the mirror (10) is arranged parallel to the beam splitter so that the fourth path is parallel to the first path, and the angle between the fourth path and the third path is 90 °.

3. The fully automatic lidar mirror AA apparatus according to claim 1, further comprising a return (500), wherein the first position adjustment mechanism (100) is provided with a third fixed position (12), wherein the return (500) is provided at the third fixed position (12), wherein the return (500) returns the second light beam to the second light source processing member (23) after the second light beam is transferred to the return (500) along a second path, such that the second light beam is converged with the third light beam along the third path to form a converged light beam, wherein the converged light beam is transferred to the second fixed position (31), and wherein the fourth light beam is transferred through the fourth path after the irradiation of the mirror (10).

4. A fully automated lidar mirror AA device according to claim 1, wherein the imaging detection mechanism (400) comprises an image receiving element (41) and an image acquisition element (42), the fourth light beam being passed through the fourth path forming an image on the image receiving element (41), the image acquisition element (42) being adapted to acquire the image formed on the image receiving element (41).

5. A fully automated lidar mirror AA device according to claim 4, wherein the image-receiving element (41) is a receiving target surface and the image-capturing element (42) is a 3D imaging camera.

6. A fully automated lidar mirror AA device according to claim 1, wherein the first position adjustment mechanism (100) comprises a first three-coordinate adjustment mechanism (13), the first fixed bit (11) being arranged on the first three-coordinate adjustment mechanism (13), the first three-coordinate adjustment mechanism (13) being adapted to adjust the position of the first fixed bit (11) in the X-axis, the Y-axis and the Z-axis.

7. The fully automatic lidar mirror AA apparatus of claim 6, wherein the second position adjustment mechanism (300) comprises a second three-coordinate adjustment mechanism (32) and an angle adjustment mechanism (33), the angle adjustment mechanism (33) is disposed on the second three-coordinate adjustment mechanism (32), the second fixed position (31) is disposed on the angle adjustment mechanism (33), the second three-coordinate adjustment mechanism (32) is used for adjusting the position of the angle adjustment mechanism (33) on the X-axis, the Y-axis and the Z-axis, and the angle adjustment mechanism (33) is used for adjusting the inclination angle of the second fixed position (31) with respect to the X-axis, the Y-axis and the Z-axis, wherein the first three-coordinate adjustment mechanism (13) and the second three-coordinate adjustment mechanism (32) share a three-coordinate system.

8. A fully automated lidar mirror AA device according to claim 1, further comprising:

the controller is electrically connected with the first position adjusting mechanism (100), the second position adjusting mechanism (300) and the imaging detection mechanism (400) to control the start-stop states of the first position adjusting mechanism (100), the second position adjusting mechanism (300) and the imaging detection mechanism (400);

the processor is electrically connected with the controller, and is used for receiving the imaging position signals acquired by the imaging detection mechanism (400), and the processor is used for judging and processing the imaging position signals so as to enable the first position adjustment mechanism (100), the second position adjustment mechanism (300) and the imaging detection mechanism (400) to be adjusted to be started or stopped by the controller.

9. A lidar (200) assembly mechanism, characterized by comprising a fully automatic lidar mirror AA device of any of claims 1-8.

10. The lidar (200) assembly mechanism of claim 9, further comprising a control assembly and a dispensing mechanism (600), the dispensing mechanism (600) being electrically connected to the control assembly, the dispensing mechanism (600) being configured to mount the mirror (10) to the lidar (200).