CN109343067A - A kind of laser radar functional module and its installation method - Google Patents
A kind of laser radar functional module and its installation method Download PDFInfo
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- CN109343067A CN109343067A CN201811348063.0A CN201811348063A CN109343067A CN 109343067 A CN109343067 A CN 109343067A CN 201811348063 A CN201811348063 A CN 201811348063A CN 109343067 A CN109343067 A CN 109343067A
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000009434 installation Methods 0.000 title abstract description 10
- 230000003287 optical effect Effects 0.000 claims abstract description 75
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000006073 displacement reaction Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 13
- 238000012986 modification Methods 0.000 claims description 6
- 230000004048 modification Effects 0.000 claims description 6
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000003754 machining Methods 0.000 abstract description 3
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 239000003292 glue Substances 0.000 description 5
- 238000003466 welding Methods 0.000 description 5
- 239000011521 glass Substances 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000009738 saturating Methods 0.000 description 4
- 238000007789 sealing Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 229910052738 indium Inorganic materials 0.000 description 1
- APFVFJFRJDLVQX-UHFFFAOYSA-N indium atom Chemical group [In] APFVFJFRJDLVQX-UHFFFAOYSA-N 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000002366 time-of-flight method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
This application involves field of artificial intelligence more particularly to a kind of laser radar functional module and its installation methods.The laser radar functional module, including control module, transmitting module, receiving module, the control module is for controlling transmitting module, receiving module work, the transmitting module includes transmitting light source, expelling plate and diversing lens, the receiving module includes receiving lens and receiver board, the expelling plate, transmitting light source, diversing lens setting are in transmitting optical path, and receiving lens, receiver board are arranged on receiving light path, and the receiver board optical axis relative transmission plate is adjustable.The application is by being split as expelling plate and receiver board for original optronic circuit board, emit light source to be arranged on expelling plate, when emitting light source machining accuracy not enough causes optical axis deviation occur, make receiver board that can still receive reflected light by adjusting receiver board, improve the yields of product, assembling difficulty is reduced, product scale of mass production is convenient for.
Description
Technical field
This application involves field of artificial intelligence more particularly to a kind of laser radar functional module and its installation methods.
Background technique
Laser radar is using LED or laser as transmitting light source, using detecting technique means active away from
From detecting devices.Laser radar mainly includes control module, transmitting module, receiving module.Control module control transmitting module and
The work of receiving module.Transmitting module includes various forms of lasers or LED, diversing lens；Receiving module includes receiving
Lens and various forms of photodetectors, photoelectric chip etc.；Laser radar issues specified wavelength light by LED or laser
Beam irradiates object, by photoelectric sensor after the received lens adjustment of the light beam that object is reflected back after emitted lens adjustment
It receives, the echo-signal that target reflects is converted into electric signal, then handle to obtain measuring system through master control system and arrive object
Distance value.
In ranging process transmitting and receiving module light axis consistency be influence measurement order of accuarcy, range it is important because
Element, this has just highlighted the importance of optical component fixed form.As shown in Figure 1, being to the fixed form of each optical element at present
Transmitting light source led/LD and photoelectric sensor are welded on one piece of optronic circuit board 27, transmitting 6 receives lens 7 and is fixed on knot
On component (being not drawn into figure), fixes transmitting light source, the optronic circuit board of photoelectric sensor and structural member and be completed optical path
The fixation of system.This mounting means once emits some in the laser radars such as light source, photoelectric sensor, lens in the process
The installation accuracy of component goes wrong, then entire optical element performance is greatly reduced, and product yield is low, and assembling difficulty is big,
Product is unfavorable for scale of mass production.
Summary of the invention
The embodiment of the present application is to propose a kind of laser radar functional module and its installation method, by expelling plate and receiver board
Two independent circuit boards are set as, transmitting light source is arranged on expelling plate, and receiver board optical axis relative transmission plate optical axis is adjustable.
In this way guarantee when machining accuracy not enough causes optical axis deviation occur, by adjust receiver board make its still can to optical axis into
Row is adjusted, so that the optical axis of receiving module and the optical axis of transmitting module match, is improved the yields of product, is reduced assembling
Difficulty is convenient for product scale of mass production.
The embodiment of the present application, which also resides in, proposes a kind of laser radar, using the laser radar functional module.
The embodiment of the present application uses following technical scheme:
On the one hand, a kind of laser radar functional module, including control module, transmitting module, receiving module, the control module are used
In control transmitting module, receiving module work, the transmitting module includes emitting light source, expelling plate and diversing lens, described to connect
Receiving module includes receiving lens and receiver board, and the expelling plate, transmitting light source, diversing lens setting receive in transmitting optical path
Lens, receiver board are arranged on receiving light path, and the receiver board optical axis is adjustable.
In one possible implementation, a kind of laser radar functional module further includes a structure lens cone, institute
The structure lens cone stated is double-barrel structure, and transmitting light source, diversing lens are arranged in a cylinder, and receiving lens are arranged in another cylinder
It is interior.
In one possible implementation, multiple location holes are set on the receiver board, and setting is fixed on structure lens cone
Position column, positioning column bottom are equipped with screw hole, and location hole aperture is less than positioning column diameter and is greater than screw hole aperture, positioning column relative positioning hole
Certain displacement can be done.
In one possible implementation, the positioning column is one ladder-like, and one end diameter is less than location hole, when fixed
When the column insertion location hole of position, positioning column can do certain displacement in positioning hole.
In one possible implementation, a kind of laser radar functional module, the lens barrel bottom end of structure lens cone
On be provided with limiting slot, for the relative position between fixed transmission light source and lens barrel wall, make to emit phase of the light source in lens barrel
It is constant to position.
In one possible implementation, the structure lens cone and diversing lens, receiving lens are to be spirally connected or be glued,
When structure lens cone and diversing lens, receiving lens are to be glued, hole for injecting glue is offered on structure lens cone nozzle, for thereto
Injecting glue.
On the other hand, a kind of laser radar functional module assemble method, includes the following steps:
A, light source, diversing lens setting will be emitted in transmitting optical path, receiving lens will be arranged on receiving light path；
B, transmitting light source is fixedly connected with expelling plate, makes expelling plate setting in transmitting optical path；
C, it adjusts and receives Board position for its optical axis alignment receiving lens center；
D, receiver board is set on receiving light path, fixed reception plate completes installation.
On the other hand, a kind of laser radar functional module assemble method, includes the following steps:
M1, transmitting light source is packed into structure lens cone bottom, diversing lens, receiving lens is packed into structure lens cone nozzle, it is fixed；
Be provided on m2, expelling plate with the corresponding welding hole of transmitting light source, after the leg of light source will be emitted to positive insertion welding hole
Welding welds together transmitting light source with expelling plate；
It is additionally provided with positioning column on the outside of m3, structure lens cone, hole corresponding with positioning column, the structure mirror are offered in control module
Cylinder is fixedly connected by positioning column with control module；
M4, the optical axis of receiver board is adjusted, guarantees that receiver board optical axis is directed at receiving lens center, adjusted axis to pass through after the completion and set
The fixed reception plate in conjunction with the location hole being arranged on receiver board of the positioning column on structure lens cone is set, laser radar function is completed
Module assembled.
In one possible implementation, laser radar functional module assemble method will filter on chip in step a
Enter structure lens cone bottom.
In one possible implementation, the optical axis adjusting to receiver board includes the following steps:
Described includes the following steps: the optical axis adjusting of receiver board
S1, the structure lens cone with control module, transmitting light source and expelling plate is fixed, by receiver board, setting is in a displacement
On platform；
S2, reception Board position is adjusted, makes structure lens cone positioning column in receiver board positioning holes center position；
A hot spot is formed on S3, control transmitting light source shoot laser to target, with measurement light intensity device to hot spot luminous intensity measurement, is led to
It crosses displacement platform and adjusts reception Board position, observe the peak change of light intensity, make to measure waveform peak on light intensity device and reach maximum；
S4, second of measurement light intensity peak: it before attenuator is added to structure lens cone, adjusts receive Board position again, make signal peak
Value is maximum, and receiver board and structure lens cone are fixed in power-off；
S5, peak value confirmation: powering on to radar again, record the peak signal after powering on, by the peak value in the signal and step S5
Signal is compared, and knots modification is between 20-40 millivolts, and adjusting optical axis work terminates, and knots modification in this range, does not repeat step
S1-S5。
For the embodiment of the present application by separating expelling plate and receiver board, the receiver board optical axis relative transmission plate optical axis is adjustable
Section guarantees that transmitting light source, diversing lens, expelling plate, receiving lens relative position are fixed, and receiver board can be adjusted, in this way when
There is the unmatched problem of optical axis of receiver board and receiving lens, when leading to distance measurement inaccuracy, by adjusting reception
Plate can make the optical axis of receiving module and the optical axis of transmitting module match, and improve the yields of product, reduce assembling
Difficulty is convenient for product scale of mass production.
Detailed description of the invention
Fig. 1 is background technique schematic diagram.
Fig. 2 is the decomposition diagram for the laser radar functional module that the embodiment of the present application 1 provides.
Fig. 3 is the assembling schematic diagram for the laser radar functional module that the embodiment of the present application 2 provides.
Fig. 4 is the decomposition diagram for the laser radar functional module that the embodiment of the present application 2 provides.
Fig. 5 is the laser radar functional module receiver board top view that the embodiment of the present application 2 provides.
Fig. 6 is the laser radar functional module cross-sectional view that the embodiment of the present application 2 provides.
Fig. 7 is the laser radar functional module debugging schematic diagram that the embodiment of the present application 2 provides.
Fig. 8 is the laser radar functional module assembling schematic diagram that the embodiment of the present application 2 provides.
In figure:
1, control module；2, expelling plate；3, receiver board；4, filter plate；5, emit light source；6, diversing lens；7, receiving lens；8,
Positioning column；9, structure lens cone；10, expansion board；11, hole for injecting glue；12, location hole；13, laser radar functional module；14, front housing；
15, it is popular in glass panel；16, sealing ring；17, rear shell；18, O is enclosed；19, cable；20, substrate；21, contact；22, XY displacement is flat
Platform；23, Z is to displacement platform；24, reflecting mirror；25, limiting slot；26, raised；27, optronic circuit board, 28, background board.
Specific embodiment
Further illustrate the technical solution of the application below with reference to the accompanying drawings and specific embodiments.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
The embodiment of the present application.
Embodiment 1
As shown in Fig. 2, a kind of laser radar functional module, including control module 1, transmitting module, receiving module, the control mould
Block 1 is for controlling transmitting module, receiving module work, generally a master control borad.The transmitting module includes transmitting light source 5, hair
Plate 2 and diversing lens 6 are penetrated, the receiving module includes receiving lens 7 and receiver board 3, the expelling plate 2, transmitting light source 5, hair
The setting of lens 6 is penetrated in transmitting optical path, receiving lens 7, receiver board 3 are arranged on receiving light path, and 3 optical axis of receiver board is opposite
2 optical axis of expelling plate is adjustable.
During the work time, transmitting light source 5 issues detection optical signal to laser radar functional module, and emitted lens 6 collimate
After be irradiated on object (such as background board 28), the received lens 7 of 28 reflected light of background board enter receiver board 3.Receiver board 3 is used
It is handled in receiving photosignal and signal being issued control module 1.Wherein, transmitting light source 5 is LED light source or is laser light
Source, the detectable signal light that transmitting light source 5 issues are infrared acquisition signal light.The central wavelength of the detectable signal light is
850nm, 905nm, 950nm or 1550nm etc..
Receiver board 3 receives the echo-signal returned by object emission.The echo-signal is received the photoelectric sensing being arranged on plate 3
Device (being not drawn into figure) receives, the optical axis center of photoelectric sensor i.e. the optical axis center of receiver board 3.Photoelectric sensor is by light
Signal is converted to electric signal, and reaches control module 1.Control module 1 is based on time-of-flight method and calculates laser radar functional module
The distance between object.In the optical path of photoelectric sensor receives echo-signal, it is provided with receiving lens 7.It is described to receive thoroughly
Mirror 7 will be in convergence of rays to photoelectric sensor.The photoelectric sensor is CMOS photoelectric sensor or CCD photoelectric sensor.
According to the wavelength of the light of wanted received echo-signal, photoelectric sensor chooses corresponding silicon based opto-electronics sensor or is indium gallium
Arsenic photoelectric sensor.
The light axis consistency of transmitting module and receiving module is to measurement accuracy in the laser radar functional module course of work
Influence is very big, in existing assembling process, will usually emit light source and photoelectric sensor is directly welded on optronic circuit board,
Then optronic circuit board and other optical structure elements are assembled again, completes the fixation of light path system.This mounting means emits light
Once source, photoelectric sensor can not be dismantled or be adjusted fixed, when emit light source go wrong optical axis cannot be consistent when,
Because being unable to adjust, monolith optronic circuit board, that is, ineffective easily causes useless in the case that each optical element installation accuracy is not high
Product cause yields to decline, and production efficiency is low.
Original optronic circuit board is divided into expelling plate 2 and receiver board 3 by the present embodiment, and assembly when expelling plate 2 is installed is public
Difference is smaller, uses and is welded and fixed together between expelling plate 2 and transmitting light source 5, the optical axis one of expelling plate 2 and transmitting light source 5
Cause property is stronger, then on the basis of expelling plate 2, and transmitting light source 5 is fixed on expelling plate 2, and receiver board 3 is used as adjustable portion
Point, optical axis is adjusted in relative transmission plate 2.Receiver board is fixed again after regulating.There is not optical axis not in transmitting light source, expelling plate
In the case where matching, it still can guarantee that receiving module optical axis matches with transmitting module optical axis by adjusting receiver board optical axis, protect
Card laser radar functional module can be used normally.
The embodiment of the present application also provides a kind of laser radar functional module assemble methods, include the following steps:
A, light source 5, the setting of diversing lens 6 will be emitted in transmitting optical path, receiving lens 7 will be arranged on receiving light path；
B, transmitting light source 5 is fixedly connected with expelling plate 2, makes the setting of expelling plate 2 in transmitting optical path；
C, it adjusts, 3 optical axis of receiver board is directed at 7 center of receiving lens, receiver board 3 is set on receiving light path, fixed reception
Plate 3.
In this case, expelling plate 2 is fixed, and receiver board 3 is adjusted up and down close to expelling plate 2 and in a plane
It is whole, it chooses a measuring device of light intensity and transmitting 5 emergent light spot of light source is detected, when light intensity maximum, illustrate 3 optical axis of receiver board
It is aligned with receiving light path optical axis, receiver board 3 is fixedly connected with expelling plate 2, complete debugging.Wherein, the photoelectric transfer in receiver board 3
Sensor receives light, light intensity data is transferred to measuring device of light intensity, such as the measuring device of light intensity is oscillograph；Or the light intensity
Measuring device is photoelectric sensor itself, obtains light intensity value by the initial data of photoelectric sensor.
Embodiment 2
As shown in Figure 3, Figure 4, a kind of laser radar functional module, including control module 1, transmitting module, receiving module, the control
Molding block 1 is for controlling transmitting module, receiving module work, generally a master control borad.The transmitting module includes transmitting light source
5, expelling plate 2 and diversing lens 6, the receiving module include receiving lens 7 and receiver board 3, the expelling plate 2, transmitting light source
5, the setting of diversing lens 6 is in transmitting optical path, and receiving lens 7, receiver board 3 are arranged on receiving light path, 3 optical axis of receiver board
Relative transmission plate 2 is adjustable.
The present embodiment further includes a structure lens cone 9, and the structure lens cone 9 is double-barrel structure, and transmitting light source 5, transmitting are saturating
Mirror 6 is arranged in a cylinder, and receiving lens 7 are arranged in another cylinder.It is hair with the cylinder for emitting light source 5, diversing lens 6 are arranged
Lens barrel is penetrated, is to receive lens barrel with the cylinder that receiving lens 7 are arranged.
In order to avoid the light in receiving light path and transmitting optical path generates crosstalk, it is opaque for receiving lens barrel with transmitting lens barrel
Material is made into, and is mutually independent two lens barrel spaces, and fixed setting constitutes structure lens cone together.Preferably, emit lens barrel
It is circular cone structure with lens barrel is received, diversing lens 6 and receiving lens 7 are respectively set in the big part in cross section, and cross section is small
Part setting transmitting light source 5.
As shown in Figure 4, Figure 5, expelling plate 2 is fixedly connected with structure lens cone 9, and multiple location holes are arranged on the receiver board 3
12, positioning column 8 is set on structure lens cone 9, offers screw hole, 12 hole of location hole as Fig. 5, l Fig. 6 can be seen that 8 bottom of positioning column
Diameter is less than positioning column diameter, is greater than screw hole internal diameter.Positioning column 8 is not inserted into location hole 12, and relative positioning post holes 12 can be done centainly
Displacement, so that receiver board 3 does certain displacement relative to structure lens cone 9, because expelling plate 2 is fixedly connected with structure lens cone 9,
Receiver board 3 can do certain displacement also relative to expelling plate 2.After 8 position of column to be positioned is adjusted, screw is passed through into receiver board 3
The screw hole of insertion positioning column 8 is spirally connected, and positioning column 8 and receiver board 3 are spirally connected.
In addition, positioning column 8 also can be inserted location hole 12, positioning column 8 is set as one ladder-like, and one end diameter is less than positioning
Hole 12, when positioning column 8 is inserted into location hole 12, positioning column 8 can do certain displacement in location hole 12, so that receiver board 3 is opposite
In 2 position-adjustable of expelling plate.
In the assembling process of existing laser radar, transmitting light source and photoelectric sensor are usually directly welded at photoelectricity
On circuit board, then optronic circuit board and other optical structure elements are assembled again, complete the fixation of light path system.This installation side
There is multistage build-up tolerance in formula, such as when LED or laser light source to be installed on optronic circuit board in the process, due to light
The socket of corresponding light source pin has biggish tolerance on electric circuit board, it is difficult to guarantee the optical axis and light of LED or laser light source
The optical axis for learning module is consistent.
The present embodiment laser radar functional module is provided with limiting slot 25 on the lens barrel bottom end of structure lens cone 9, emits light source
5 have protrusion 26, and limiting slot 25 is combined with protrusion 26, the relative position between fixed transmission light source 5 and lens barrel wall, make to emit light
Relative position of the source 5 in lens barrel is constant.In this way, reducing the transmitting of transmitting module caused by the tolerance of light source during the installation process
The optical axis deviation of lens and transmitting light source.
As needed, a filter plate 4 is also set up in 9 bottom end of structure lens cone.The filter plate 4 is dry for filtering out component environment
Disturb light.
The structure lens cone 9 is to be spirally connected or be glued with diversing lens 6, receiving lens 7, when structure lens cone 9 and transmitting are saturating
Mirror 6, receiving lens 7 are that when being glued, hole for injecting glue 11 is offered on structure lens cone nozzle, for injecting glue thereto.
The present embodiment further includes an expansion board 10, and the expansion board 10 is connect by positioning column 8 with structure lens cone 9.Expand
Panel 10 is used for outer signal line, power supply line.
On the one hand the present embodiment uses individual expelling plate and receiver board, improve yield rate, on the other hand whole using one
A structure lens cone 9 is used as structural member, and transmitting light source 5, diversing lens 6, receiving lens 7, filter plate 22, expansion board 10 are all arranged
It is connect on structure lens cone 9 or with structure lens cone 9, above-mentioned optical element relative position immobilizes, and improves optical axis stable.
The assemble method of the present embodiment laser radar functional module, includes the following steps:
M1, transmitting light source 5 is packed into 9 bottom of structure lens cone, diversing lens 6, receiving lens 7 is packed into 9 nozzle of structure lens cone, Gu
It is fixed；
It is provided with welding hole corresponding with transmitting light source 5 on m2, expelling plate 2, the leg of light source 5 will be emitted to positive insertion welding hole
After weld, transmitting light source 5 is welded together with expelling plate 2；
It is additionally provided with positioning column 8 on the outside of m3, structure lens cone 9, hole corresponding with positioning column 8, the knot are offered in control module 1
Structure lens barrel 9 is fixedly connected by positioning column 8 with control module 1；
M4, the optical axis of receiver board 3 is adjusted, guarantees that 3 optical axis of receiver board is directed at 7 center of receiving lens, adjust axis logical after the completion
It crosses the positioning column 8 being arranged on structure lens cone 9 and is combined fixed reception plate 3 with the location hole 12 being arranged on receiver board 3, complete to swash
The assembling of optical radar functional module.
The installation method is adjustable to 3 optical axis relative transmission plate 2 of receiver board for installing expelling plate 2, receiver board 3 respectively,
The requirement to transmitting module machining accuracy is reduced, yields is improved.
As shown in fig. 7, the optical axis adjusting in the present embodiment can be realized by a kind of adjusting tooling, the adjusting tooling packet
Include substrate 20, using adjust receiver board left and right directions as X-axis, using adjust receiver board front-rear direction as Y-axis, to adjust lens barrel upper and lower
It can be along the Z-direction that Z-direction moves along the XY displacement platform 22 that XY axis direction moves, one to for Z axis, being provided with one on the base plate 20
Contact 21 is arranged on XY displacement platform for displacement platform 23, is used for external device.Adjusting tooling further includes a reflecting mirror 24, is used for
Adjust laser emitting optical path.
Described includes the following steps: the optical axis adjusting of receiver board
S1, the structure lens cone 9 with control module 1, transmitting light source 5 and expelling plate 2 is fixed on Z-direction displacement platform 23, it will
Receiver board 3 is arranged on XY displacement platform 22, and adjustment Z-direction displacement platform 23 keeps structure lens cone 9 and receiver board 3 close.
S2, XY displacement platform 22 is adjusted, i.e. adjustment 3 position of receiver board, makes structure lens cone positioning column 8 in receiver board location hole
12 centers.
A hot spot is formed on S3, control transmitting 5 shoot laser to target of light source, hot spot light intensity is surveyed with measurement light intensity device
Amount adjusts 3 position of receiver board, observes the peak change of light intensity, makes to measure waveform peak on light intensity device and reaches maximum.
S4, second of measurement light intensity peak: before attenuator is added to structure lens cone 9,3 position of receiver board is adjusted again, is made
Signal peak is maximum, and receiver board 3 and structure lens cone 9 is fixed.It should be noted that in this step, the setting of attenuator is
In the S1-S3 the step of, the light intensity value measured is excessive, and photoelectric sensor is caused the phenomenon that overexposure occur, works as production
When the phenomenon that raw overexposure, regardless of receiver board 3 changes position, a light intensity definite value will be all received, it cannot be by detecting light intensity
The mode of value carries out the adjustment of optical axis.Attenuator effectively weakens light intensity value, such as light intensity value is cut down half, therefore can effectively keep away
The generation for exempting from overexposure enables receiver board to obtain different light intensity values at shift position, can be measured that light intensity peak.
S5, peak value confirmation: powering on to radar again, record power on after peak signal, will be in the signal and step S4
Peak signal is compared, and between 20-40 millivolts, adjust optical axis work terminates knots modification, and knots modification repeats to walk not in this range
Rapid S1-S5.
The preferred oscillograph of measuring device of light intensity.Photoelectric sensor on receiver board receives the light being reflected.
It further include rear shell 17, cable 19, red as shown in figure 8, the laser radar includes laser radar functional module 13
Saturating glass panel 15, front housing 14, the laser radar functional module 13 are fixed on rear shell 17, and rear shell 17 is spirally connected with front housing 14,
A cavity is formed, laser radar functional module is arranged in cavity, and cable 19 passes through rear shell 21 and laser radar functional module 13
Control module connection, offer on front housing 14 it is corresponding with structure lens cone 1, it is red for the opening by transmitting, reflected light path
Saturating glass panel 15 is pasted on preceding shell opener.
The laser radar further includes sealing ring 16, O circle 18, the sealing ring 16 setting rear shell 17 and front housing 14 it
Between, for guaranteeing that cavity seals；The O circle 18 is arranged between cable 19 and rear shell 17, for guaranteeing cable 19 and rear shell
Sealing between 17.
Emit light source 5 when use and emit laser, emitted lens 6 are popular in glass panel 15 and are irradiated to target surface, mesh
The mark received lens of object surface reflection are received by receiver board 3, and are converted to electric signal and are sent to control module 1, control module 1
Range data is calculated.
Describe the technical principle of the application in conjunction with specific embodiments above.These descriptions are intended merely to explain the application's
Principle, and it cannot be construed to the limitation to the application protection scope in any way.Based on the explanation herein, the technology of this field
Personnel do not need to pay for creative labor the other specific embodiments that can associate the application, these modes are fallen within
Within the protection scope of the application.
Claims (11)
1. a kind of laser radar functional module, which is characterized in that including transmitting module, receiving module, the transmitting module includes
Emit light source, expelling plate and diversing lens, the receiving module includes receiving lens and receiver board, the expelling plate, transmitting light
Source, diversing lens setting are in transmitting optical path, and receiving lens, receiver board are arranged on receiving light path, the receiver board optical axis phase
It is adjustable to expelling plate.
2. a kind of laser radar functional module according to claim 1, which is characterized in that the expelling plate and receiver board
It is independent two pieces of circuit boards.
3. a kind of laser radar functional module according to claim 1, which is characterized in that further include a structure lens cone, institute
The structure lens cone stated is double-barrel structure, and transmitting light source, diversing lens are arranged in a cylinder, and receiving lens are arranged in another cylinder
It is interior.
4. a kind of laser radar functional module according to claim 3, which is characterized in that be arranged on the receiver board more
Positioning column is arranged on structure lens cone for a location hole, and positioning column bottom is equipped with screw hole, and location hole aperture is less than positioning column outer diameter, and
And it is greater than screw hole aperture, positioning column relative positioning hole can move.
5. a kind of laser radar functional module according to claim 3, which is characterized in that be arranged on the receiver board more
Positioning column is arranged on structure lens cone for a location hole, and the positioning column is a multi-diameter shaft, and one end diameter is less than location hole, another
Diameter is held to be greater than location hole, when location hole is inserted into one end that positioning column diameter is less than location hole, positioning column relative positioning hole can
It is mobile.
6. a kind of laser radar functional module according to claim 4 or 5, which is characterized in that the lens barrel bottom of structure lens cone
It is provided with limiting slot on end, for the relative position between fixed transmission light source and lens barrel wall, makes to emit light source in lens barrel
Relative position is constant.
7. a kind of laser radar functional module assemble method, it is characterised in that include the following steps:
A, light source, diversing lens setting will be emitted in transmitting optical path, receiving lens will be arranged on receiving light path；
B, transmitting light source is fixedly connected with expelling plate, by expelling plate setting in transmitting optical path；
C, it adjusts and receives Board position for its optical axis alignment receiving lens center；
D, fixed reception plate.
8. a kind of laser radar functional module assemble method, which comprises the steps of:
M1, transmitting light source is packed into structure lens cone bottom, diversing lens, receiving lens is packed into structure lens cone nozzle, it is fixed；
M2, transmitting light source and expelling plate are welded together, fixed transmission plate and structure lens cone relative position；
M3, reception Board position is adjusted by its optical axis alignment receiving lens center；
M4, adjust axis after the completion of, by the positioning column on structure lens cone with location hole in conjunction with fixed reception plate, completion laser radar function
Module assembled.
9. a kind of laser radar functional module assemble method according to claim 7 or 8, which is characterized in that the right
It is required that in step c or the claim 8 in 7 step m3 specifically comprise the following steps:
S1, the structure lens cone with transmitting light source and expelling plate is fixed, receiver board is fixed on a displacement platform；
S2, reception Board position is adjusted, makes receiver board close to structure lens cone；
On S3, control transmitting light source shoot laser to target, with measurement light intensity device to reflected light luminous intensity measurement, while adjusting and connecing
Board position is received, the peak change of light intensity is observed, when waveform peak reaches maximum on measurement light intensity device, by receiver board and structure
Lens barrel is fixed.
10. a kind of laser radar functional module assemble method according to claim 9, which is characterized in that the right is wanted
Ask step c in 7 or in the claim 8 step m3 further include following steps:
S4: after step S3 measurement light intensity device measures waveform peak maximum for the first time, before attenuator is added to structure lens cone,
It adjusts again and receives Board position, keep signal peak maximum, receiver board and structure lens cone are fixed, complete optical axis and adjust.
11. a kind of laser radar functional assembly method according to claim 10, which is characterized in that the claim 7
In step c or the claim 8 in step m3 further include following steps:
S5: after step S4 measurement light intensity device measures waveform peak maximum for the second time, first powering on laser light source power-off again,
The peak signal after powering on is recorded, by the signal compared with measuring obtained peak signal for the second time, knots modification is at 20-40 millivolts
Between, adjusting optical axis work terminates, and knots modification in this range, does not repeat step S1-S5.
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| CN201811348063.0A CN109343067A (en) | 2018-11-13 | 2018-11-13 | A kind of laser radar functional module and its installation method |
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| CN201811348063.0A CN109343067A (en) | 2018-11-13 | 2018-11-13 | A kind of laser radar functional module and its installation method |
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| CN110376597A (en) * | 2019-08-08 | 2019-10-25 | 上海禾赛光电科技有限公司 | Laser radar and its detection device |
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