Adjustment equipment and adjustment method thereof

Abstract

The embodiment of the present invention provides an adjustment device and an adjustment method thereof, which are suitable for the adjustment of the integrated circuit board of the laser radar. The adjustment device can move the integrated circuit board in the first direction, the second direction, and the third direction by adjusting the three-dimensional adjustment frame, and can make the integrated circuit board rotate freely in the plane where the first direction and the second direction are located by the angle adjustment mechanism. The adjustment position and inclination angle of the integrated circuit board clamped by the clamping part can be adjusted to improve the adjustment accuracy, thereby improving the optical path accuracy of the installed laser radar and the accuracy of the laser radar distance detection. In addition, in the adjustment device, the adjustment of the first direction, the second direction, and the third direction is limited by the three-dimensional adjustment frame, and the rotation in the plane where the first direction and the second direction are located is limited by the angle adjustment mechanism, so as to avoid the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency of the integrated circuit board.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of mechanical equipment, and in particular to an adjustment device and an adjustment method thereof. Background Art

[0002] Laser radar (LIDAR) is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. In autonomous driving, it undertakes important tasks such as curb detection, obstacle recognition, and real-time positioning and mapping (SLAM, simultaneous localization and mapping).

[0003] Its working principle is to transmit a detection signal (transmitting light beam) to the target through the transmitting unit, and then compare the received echo signal (echo light beam) reflected from the target with the transmitting signal through the receiving unit. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify targets such as cars and pedestrians. It consists of a laser transmitter, an optical receiver, a turntable and an information processing system. The laser converts electrical pulses into light pulses and transmits them, and the optical receiver restores the light pulses reflected from the target into electrical pulses.

[0004] Therefore, it is a necessary condition for the laser radar to have high performance that the receiving unit receives the echo signal corresponding to the detection signal of the transmitting unit. However, the accuracy of existing traditional machining is difficult to guarantee the requirements of the optical link between the transmitting unit and the receiving unit in the laser radar. It is necessary to assemble and adjust the transmitting unit and the receiving unit in the laser radar. Summary of the invention

[0005] The problem solved by the present invention is to provide an adjustment device and an adjustment method thereof, so as to improve the accuracy of the laser radar transceiver optical link.

[0006] The technical solution of the present invention provides an adjustment device, which is suitable for the adjustment of the integrated circuit board of the laser radar, comprising: a three-dimensional adjustment frame, an angle adjustment mechanism connected to the three-dimensional adjustment frame, and a clamping part connected to the angle adjustment mechanism, wherein the clamping part has a first target output end; the three-dimensional adjustment frame comprises: a first moving platform, which is used to realize the position adjustment of the first target output end along the first direction; a second moving platform, which is used to realize the position adjustment of the first target output end along the second direction; a third moving platform, which is used to realize the position adjustment of the first target output end along the third direction, wherein the third direction is perpendicular to the plane where the second direction and the first direction are located; the first moving platform, the second moving platform and the third moving platform are connected in series; the angle adjustment mechanism is used to realize the rotation of the first target output end within the plane where the first direction and the second direction are located; and the clamping part is used to clamp the integrated circuit board.

[0007] Correspondingly, the technical solution of the present invention also provides an installation method, including: installation of an integrated circuit board suitable for a laser radar, the integrated circuit board having a first direction and a second direction perpendicular to each other, the installation method including: clamping the integrated circuit board; rotating the integrated circuit board in a plane formed by the first direction and the second direction; moving the integrated circuit board in at least one of the first direction, the second direction and a third direction, wherein the third direction is perpendicular to the plane where the first direction and the second direction are located; after moving the integrated circuit board in at least one of the first direction, the second direction and the third direction, fixing the integrated circuit board on the laser radar.

[0008] Compared with the prior art, the technical solution of the present invention has the following advantages:

[0009] In the adjustment device provided by the embodiment of the present invention, the clamping part clamps the integrated circuit board, and the integrated circuit board can be moved in the first direction, the second direction, and the third direction by adjusting the three-dimensional adjustment frame. The integrated circuit board can be rotated freely in the plane where the first direction and the second direction are located by the angle adjustment mechanism. The adjustment position and inclination angle of the integrated circuit board clamped by the clamping part can be adjusted to improve the adjustment accuracy, thereby improving the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In the adjustment device of the present invention, the adjustment of the first direction, the second direction, and the third direction is limited by the three-dimensional adjustment frame, and the rotation in the plane where the first direction and the second direction are located is limited by the angle adjustment mechanism, so as to avoid the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency of the integrated circuit board. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1It is a structural schematic diagram of the first embodiment of the assembling and adjusting device of the present invention for assembling and adjusting an integrated circuit board from a first viewing angle;

[0011] Figure 2 It is a structural schematic diagram of the first embodiment of the assembling and adjusting device of the present invention for assembling and adjusting an integrated circuit board from a second viewing angle;

[0012] Figure 3 It is a structural schematic diagram of the third viewing angle of the integrated circuit board assembled and adjusted by the first embodiment of the assembly and adjustment equipment of the present invention;

[0013] Figure 4 It is a structural schematic diagram of an integrated circuit board fixing device of a first embodiment of the assembly and adjustment equipment of the present invention;

[0014] Figure 5 It is a structural schematic diagram of a lens barrel support of a first embodiment of an adjustment device of the present invention;

[0015] Figure 6 It is a schematic flow chart of the first embodiment of the installation and adjustment method of the present invention;

[0016] Figure 7 It is a schematic diagram of the process of clamping the integrated circuit board in the first embodiment of the installation method of the present invention;

[0017] Figure 8 It is a schematic diagram of the process of rotating the integrated circuit board in the plane formed by the first direction and the second direction in the first embodiment of the installation and adjustment method of the present invention;

[0018] Fig. 9 is a schematic flow chart of the first embodiment of the installation method of the present invention, in which the integrated circuit board is moved in at least one of the first direction, the second direction and the third direction;

[0019] Fig.10 It is a schematic diagram of a process of fixing the integrated circuit board on the laser radar using an integrated circuit board fixing device in the first embodiment of the installation and adjustment method of the present invention;

[0020] Fig.11 It is a flow chart of the second embodiment of the installation and adjustment method of the present invention. DETAILED DESCRIPTION

[0021] As can be known from the background technology, the transmitting unit and the receiving unit in the laser radar are adjusted to make the optical link between the transmitting unit and the receiving unit in the laser radar meet the working requirements.

[0022] The transmitting board (Tx board) in the transmitting unit provides the transmitting detection signal, and the receiving board (Rx board) in the receiving unit is used to receive the echo signal. In order to make the transmitting board and the receiving board be located in the appropriate position and obtain the field of view range required by the design, the position of the transmitting board and the receiving board is adjusted. Currently, the line scanning method is used for adjustment, that is, the transmitting board sequentially transmits multiple points to the predetermined reflector, and determines whether the currently received field of view range is consistent with the scanning range of the receiving board based on the points received by the receiving board. When inconsistency is found, the transmitting board or the receiving board is adjusted to meet the design requirements. In addition, the current adjustment equipment has too many degrees of freedom, resulting in a large number of components that need to be manually adjusted, and the adjustment speed is slow.

[0023] In order to improve the installation and adjustment accuracy of a laser radar, an embodiment of the present invention provides an installation and adjustment device for the installation and adjustment of a laser radar, comprising: a three-dimensional adjustment frame, an angle adjustment mechanism connected to the three-dimensional adjustment frame, and a clamping portion connected to the angle adjustment mechanism, wherein the clamping portion has a first target output end; the three-dimensional adjustment frame comprises: a first moving platform, used to realize position adjustment of the first target output end along a first direction; a second moving platform, used to realize position adjustment of the first target output end along a second direction; a third moving platform, used to realize position adjustment of the first target output end along a third direction, wherein the third direction is perpendicular to the plane in which the second direction and the first direction are located; the first moving platform, the second moving platform and the third moving platform are connected in series; the angle adjustment mechanism is used to realize rotation of the first target output end within the plane in which the first direction and the second direction are located; and the clamping portion is used to clamp the integrated circuit board.

[0024] In the adjustment device provided by the embodiment of the present invention, the clamping part clamps the integrated circuit board, and the integrated circuit board can be moved in the first direction, the second direction, and the third direction by adjusting the three-dimensional adjustment frame. The integrated circuit board can be rotated freely in the plane where the first direction and the second direction are located by the angle adjustment mechanism. The adjustment position and inclination angle of the integrated circuit board clamped by the clamping part can be adjusted to improve the adjustment accuracy, thereby improving the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In addition, in this adjustment device, the adjustment of the first direction, the second direction, and the third direction is limited by the three-dimensional adjustment frame, and the rotation in the plane where the first direction and the second direction are located is limited by the angle adjustment mechanism, so as to avoid the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency of the integrated circuit board.

[0025] The embodiment of the present invention provides a mounting and adjusting device, referring to Figures 1 to 5 , showing a schematic structural diagram of a first embodiment of the adjustment device.

[0026] like Figure 1As shown, the adjustment device provided by the embodiment of the present invention is suitable for the adjustment of the integrated circuit board of the laser radar, including: a three-dimensional adjustment frame 100, an angle adjustment mechanism 200 connected to the three-dimensional adjustment frame 100, and a clamping part 300 connected to the angle adjustment mechanism 200, wherein the clamping part 300 has a first target output end; the three-dimensional adjustment frame 100 includes: a first moving platform 101, which is used to realize the position adjustment of the first target output end along the first direction (Y); a second moving platform 102, which is used to realize the position adjustment of the first target output end along the second direction (Z); a third moving platform 103, which is used to realize the position adjustment of the first target output end along the third direction (X), wherein the third direction X is perpendicular to the plane where the second direction Z and the first direction Y are located; the first moving platform 101, the second moving platform 102 and the third moving platform 103 are connected in series; the angle adjustment mechanism 200 is used to realize the rotation of the first target output end in the plane where the second direction Z and the third direction X are located; and the clamping part 300 is used to clamp the integrated circuit board.

[0027] In the adjustment device provided by the embodiment of the present invention, a three-dimensional adjustment frame 100, an angle adjustment mechanism 200 connected to the three-dimensional adjustment frame 100, and a clamping part 300 connected to the angle adjustment mechanism 200, wherein the clamping part 300 has a first target output end; the three-dimensional adjustment frame 100 includes: a first moving platform 101, which is used to adjust the position of the first target output end along the first direction; a second moving platform 102, which is used to adjust the position of the first target output end along the second direction; a third moving platform 103, which is used to adjust the position of the first target output end along the third direction, wherein the third direction is perpendicular to the plane where the second direction and the first direction are located; the first moving platform 101, the second moving platform 102, and the third moving platform 103 are connected in series, and the three-dimensional adjustment frame 100 is used to realize the movement of the first output end in the first direction, the second direction, and the third direction. The angle adjustment mechanism 200 is used to realize the rotation of the first target output end in the plane where the second direction and the third direction are located, so that the first target output end has the freedom of movement in the first direction, the second direction, and the third direction and the rotation in the plane where the second direction and the third direction are located.

[0028] In the embodiment of the present invention, the adjustment device further includes: a clamping part 300, which is used to clamp the integrated circuit board. By adjusting the three-dimensional adjustment frame, the integrated circuit board can be moved in the first direction, the second direction, and the third direction. The angle adjustment mechanism 200 can make the integrated circuit board rotate freely in the plane where the first direction and the second direction are located. The adjustment position and inclination angle of the integrated circuit board clamped by the clamping part 300 can be adjusted to improve the adjustment accuracy, thereby improving the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In addition, in the present adjustment device, the adjustment of the first direction, the second direction, and the third direction is limited by the three-dimensional adjustment frame 100, and the rotation in the plane where the first direction and the second direction are located is limited by the angle adjustment mechanism 200, so as to avoid the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency of the integrated circuit board.

[0029] In this embodiment, the laser radar includes: a transmitting unit (not shown in the figure), which is used to provide a transmitting light beam, and the transmitting light beam is reflected by the target object to form an echo light beam, and the emission direction of the transmitting light beam is the second direction.

[0030] Accordingly, the integrated circuit board includes a transmitting board (Tx), the transmitting light beam is provided by the transmitting board, the transmitting board has an edge emitting laser diode (EEL), and accordingly, when the transmitting unit is working, the transmitting light beam is located in the plane where the first direction and the second direction are located, and accordingly, the folding reflector in the laser radar is reduced, which is conducive to meeting the miniaturization requirements of the laser radar. In other embodiments, the transmitting board has a vertical cavity surface emitting laser (VCSEL), and accordingly, when the transmitting unit is working, the transmitting light beam is perpendicular to the plane where the first direction and the second direction are located.

[0031] In this embodiment, the receiving unit (not shown in the figure) is used to receive the echo light beam, and the incident direction of the echo light beam is the second direction.

[0032] Correspondingly, the integrated circuit board includes a receiving board (Rx), the echo light beam is received by the receiving board, and the receiving board has a detector. Specifically, the detector includes an avalanche photo diode (APD), a silicon photomultiplier (SiPM) or a single photon avalanche diode (SPAD).

[0033] In this embodiment, the lens group (not shown in the figure) is used to transmit the emission light beam or receive the echo light beam. The lens group (not shown in the figure) includes a receiving lens barrel (not shown in the figure) and a transmitting lens barrel (not shown in the figure), wherein the transmitting lens barrel is used to transmit the emission light beam, and the receiving lens barrel is used to transmit the receiving light beam.

[0034] The laser radar further comprises: a lens barrel support 700 for placing a lens group, the lens barrel support comprises a first lens hole 701 and a second lens hole 702 located on the first lens hole 701, the receiving lens barrel is located in the first lens hole 701, the transmitting lens barrel is located in the second lens hole 702, and the side of the first lens hole 701 has a first surface 703 (such as Figure 5 The bottom of the second mirror hole 702 has a second surface 704 (as shown) parallel to the extending direction of the first mirror hole 701. Figure 5 shown).

[0035] Because the extending direction of the first mirror hole 701 is the same as the extending direction of the second mirror hole 702 , the extending direction of the receiving lens barrel is the same as the extending direction of the transmitting lens barrel.

[0036] In this embodiment, the integrated circuit board includes the transmitting board or the receiving board, and correspondingly, the assembly and adjustment equipment is a transmitting board assembly and adjustment equipment or a receiving board assembly and adjustment equipment.

[0037] In this embodiment, the first direction is Figure 1 The Y direction in the Figure 1 The Z direction in the third direction is Figure 1 Those skilled in the art may understand that the correspondence between the first, second, and third directions and the actual coordinate system is not unique. In some other embodiments, when the first direction is the X direction, the second direction and the third direction may be the Y direction and the Z direction, respectively; when the first direction is the Y direction, the second direction and the third direction may be the X direction and the Z direction, respectively.

[0038] The three-dimensional adjustment frame 100 is used to adjust the position of the first target output end in the clamping part 300 along the first direction, the second direction and the third direction, and can also adjust the position of the transmitting plate or the receiving plate along the first direction, the second direction and the third direction.

[0039] In this embodiment, the first mobile platform 101 is located on the third mobile platform 103, and the second mobile platform 102 is located on the first mobile platform 101. Specifically, the first mobile platform 101, the second mobile platform 102, and the third mobile platform 103 in the three-dimensional adjustment frame 100 are connected as follows:

[0040] The output of the second moving platform 102 is the output of the three-dimensional adjustment frame 100 in the second direction, which is used to achieve position adjustment of the first target output end along the second direction.

[0041] The output of the first moving platform 101 is the output of the three-dimensional adjustment frame 100 in the first direction, which is used to adjust the position of the first target output end along the first direction. During the adjustment of the position of the first moving platform 101 along the first direction, the second moving platform 102 is driven to adjust its position in the first direction.

[0042] The output of the third moving platform 103 is the output of the three-dimensional adjustment frame 100 in the third direction, which is used to adjust the position of the first target output end along the third direction. During the process of adjusting the position of the third moving platform 103 along the third direction, the first moving platform 101 and the second moving platform 102 are driven to adjust their positions in the third direction.

[0043] When the three-dimensional adjustment frame 100 is working, when the first movable platform 101 is adjusted along the first direction, the second movable platform 102 will be driven to adjust its position along the first direction; when the third movable platform 103 is adjusted along the third direction, the first movable platform 101 and the second movable platform 102 will be driven to adjust their positions along the third direction.

[0044] It should be noted that, in this embodiment, the top surface of the second moving platform 102 is located in the plane where the second direction and the third direction are located.

[0045] In this embodiment, when the three-dimensional adjustment frame 100 is used to adjust the transmitting plate, the range of movement of the three-dimensional adjustment frame 100 in the second direction is less than 1.2 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the second direction relative to the initial position is -0.2 mm to 1 mm. The range of movement of the three-dimensional adjustment frame 100 in the first direction is less than 1.4 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the first direction relative to the initial position is -0.7 mm to 0.7 mm.

[0046] When the three-dimensional adjustment frame 100 is used to adjust the receiving plate, the range of movement of the three-dimensional adjustment frame 100 in the second direction is less than 1.5 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the second direction relative to the initial position is -0.5 mm to 1 mm. And the first target output end of the three-dimensional adjustment frame 100, at the initial position in the plane where the second direction and the first direction are located, is located in a circle with a radius of 0.9 mm with the preset ideal position as the center.

[0047] The angle adjustment mechanism 200 is used to realize the rotation of the first target output end in the plane where the first direction and the second direction are located, so that the first target output end drives the receiving plate or the transmitting plate to rotate in the plane where the first direction and the second direction are located.

[0048] In this embodiment, the angle adjustment mechanism 200 includes: a meshing transmission structure.

[0049] In this embodiment, the meshing transmission structure includes a worm 201 and a worm wheel 202 meshing with the worm 201 , and the worm wheel 202 is the output end of the angle adjustment mechanism 200 .

[0050] Preferably, the worm 201 and the worm wheel 202 have the characteristics of low transmission ratio, for example, when the worm 201 rotates one circle, the worm wheel 202 rotates an angle corresponding to the tooth shape. In the process of using the worm 201 and the worm wheel 202 to adjust the rotation of the clamping part 300 in the plane where the first direction and the second direction are located, the worm wheel 202 can be accurately rotated, and it is easy to make the transmitting plate or the receiving plate clamped by the holding part 300 have a suitable adjustment position and inclination in the plane where the first direction and the second direction are located.

[0051] Preferably, the worm 201 and the worm wheel 202 have a self-locking property, so that when the angle adjustment mechanism 200 is used to realize the rotation of the first target output end in the plane where the first direction and the second direction are located, after reaching the preset angle position, the angle of the first target output end in the plane where the first direction and the second direction are located is not easy to change, so that the stability of the adjustment equipment is relatively high, and the optical link uniformity of each laser radar adjusted is relatively high.

[0052] In other embodiments, the meshing transmission structure includes two vertically meshing first bevel gears and second bevel gears, the number of teeth of the second bevel gear is greater than the number of teeth of the first bevel gear, the second bevel gear is the output end of the angle adjustment mechanism, and the low transmission ratio of the first bevel gear and the second bevel gear facilitates the precise rotation of the worm gear.

[0053] In this embodiment, the angle adjustment mechanism 200 further includes: an angle fixing frame 203 for setting the meshing transmission structure.

[0054] The angle fixing frame 203 provides structural support for the meshing of the worm wheel 202 and the worm 201, so that the worm wheel 202 and the worm 201 can smoothly complete the meshing transmission, and transmit the rotation of the worm wheel 202 in the first direction and the second direction plane to the clamping part 300, so that the first target output end of the clamping part 300 rotates in the first direction and the second direction plane, driving the transmitting plate or the receiving plate to rotate in the plane where the first direction and the second direction are located.

[0055] Specifically, the angle fixing frame 203 includes:

[0056] The first fixing plate 2031 is used for being fixedly connected to the second moving platform 102 .

[0057] Therefore, when the adjustment device is working, during the process of adjusting the position of the three-dimensional adjustment frame 100 in the first direction, the second direction and the third direction, the position of the meshing transmission structure in the first direction, the second direction and the third direction will be driven to adjust, and the corresponding position of the worm gear 202 in the first direction, the second direction and the third direction will be adjusted.

[0058] The second fixing plate 2032 is erected on the side of the first fixing plate 2031 .

[0059] The second fixing plate 2032 is used to set the position of the third fixing plate 2034 .

[0060] The third fixing plate 2034 is connected to the top of the second fixing plate 2032 and extends to the top of the first fixing plate 2031 . The worm 201 penetrates through the third fixing plate 2034 and rotates with the third fixing plate 2034 .

[0061] The third fixing plate 2034 defines a meshing transmission area between the worm wheel 202 and the worm 201 .

[0062] refer to Figure 2 The angle adjustment mechanism further includes: a rotating shaft 2033 , one end of which is fixedly connected to the worm gear 201 , and the other end of which passes through the second fixing plate 2032 and is fixedly connected to the clamping portion 300 .

[0063] The rotating shaft 2033 transmits the rotation of the worm wheel 202 in the plane where the first direction and the second direction are located to the clamping part 300, so that when the adjustment structure is working, the clamping part 300 can be driven to rotate in the plane where the first direction and the second direction are located.

[0064] It should be noted that the rotating shaft 2033 and the second fixing plate 2032 are rotationally matched, and the structure adopted is, for example, a bearing.

[0065] In this embodiment, the extension direction of the rotating shaft 2033 is the same as the third direction. Since the first direction, the second direction and the third direction are perpendicular to each other, the clamping portion 300 connected to the rotating shaft 2033 can rotate within the plane where the first direction and the second direction are located.

[0066] In this embodiment, the second fixing plate 2032 is perpendicular to the third fixing plate 2034 .

[0067] The rotating shaft 2033 is rotationally matched with the second fixing plate 2032, and the second fixing plate 2032 defines the spatial position of the rotating shaft 2033, and correspondingly defines the spatial position of the worm wheel 202; the worm 201 is rotationally matched with the third fixing plate 2034, and the third fixing plate 2034 defines the spatial position of the worm 201. The second fixing plate 2032 is perpendicular to the third fixing plate 2033, so that the worm wheel 202 defined by the second fixing plate 2032 and the worm 201 defined by the third fixing plate 2033 can be smoothly meshed, reducing the difficulty of assembling the angle transmission mechanism 200, and correspondingly improving the consistency of the optical transmission link between the transmitting unit and the receiving unit of the laser radar adjusted by different adjustment equipment.

[0068] In this embodiment, the second fixing plate 2032 is located in a plane where the first direction and the second direction are located.

[0069] Specifically, the first fixed plate 2031 is fixedly connected to the top surface of the second mobile platform 102. Since the top surface of the second mobile platform 102 is located in the plane where the second direction and the third direction are located, the second fixed plate 2032 is located in the plane where the first direction and the second direction are located, and accordingly, the second fixed plate 2032 is perpendicular to the first fixed plate 2031.

[0070] The angle adjustment mechanism 200 further includes: a worm gear fixing screw 2035 rotatably disposed in the second fixing plate 2032 , wherein the extending direction of the worm gear fixing screw 2035 is perpendicular to the extending direction of the rotating shaft 2033 , and is used to fix the rotating shaft 2033 .

[0071] During the adjustment of the adjustment equipment, when the angle adjustment mechanism 200 makes the clamping part 300 at a suitable angle in the plane where the first direction and the second direction are located, in order to prevent the clamping part 300 from having additional angular rotation errors in the plane where the first direction and the second direction are located, the worm gear fixing screw 2035 is used to fix the rotating shaft 2033, so that the angle of the holding part 200 in the plane where the first direction and the second direction are located does not change, preparing for the installation of the integrated circuit board in the laser radar.

[0072] When the angle adjustment mechanism 200 is used to adjust the integrated circuit board, the angle of rotation in the plane where the first direction and the second direction are located is less than 10°. As an example, the adjustment range of the integrated circuit board relative to the initial position ranges from -5° to 5°.

[0073] Those skilled in the art should understand that by performing a relatively accurate error analysis in the early stage, the error between the initial installation position and the actual preferred position can be made within the appropriate range as described above, that is, within a reasonable error range.

[0074] In this embodiment, the clamping portion 300 includes: a first support 301, the bottom of the first support 301 has a first extension portion 305 bent upward; a second support 302, located on the first support 301, the second support 302 has a second extension portion 304 opposite to the first extension portion 305; a fixed support portion 306, located at one end of the bottom of the second support 302; a threaded fixing member 303, passing through the second support 302 and contacting the top of the fixed support portion 306.

[0075] The integrated circuit board is clamped by the supporting part 300, and the threaded fixing part 303 is rotated to increase the distance between the first supporting part 301 and the second supporting part 302, and the corresponding distance between the first extending part 305 and the second extending part 304 is increased; the integrated circuit board is placed between the first extending part 305 and the second extending part 304; the threaded fixing part 303 is rotated to increase the size of the threaded fixing part 303 between the first supporting part 301 and the threaded fixing part 303, so as to make the end of the second extending part 304 close to the fixed support part 306 bend upward, and make the end of the second extending part 304 away from the fixed support part 306 bend downward, and the end of the second extending part 304 away from the fixed support part 306 and the first extending part 305 clamp the integrated circuit board.

[0076] In other embodiments, the clamping portion may also be other structures capable of clamping an integrated circuit board.

[0077] It should be noted that the laser radar includes: an integrated circuit board fixing device 400, which is arranged opposite to the first mirror hole 701 or the second mirror hole 702, and the integrated circuit board fixing device 400 includes: a positioning frame 401; a positioning block 402, which is separated from the positioning frame 401 in the first direction, and the number of the positioning blocks 402 is two; a fixing block 403, which is located on the positioning frame 401 on the side of the positioning block 402 in the second direction and is spaced apart from the positioning block 402; a pressing block 404, wherein the pressing block 404 has a groove on the side wall in the second direction, and the groove is slidably matched with the fixing block 403 in the second direction, and has a clamping portion 405 protruding in the second direction on both sides of the groove in the first direction, and the clamping portion 405 is used to cooperate with the positioning block 402; a pressing block fixing piece 406, which passes through the pressing block 404 and is threadedly matched with the fixing block 403, so that the pressing block 404 is displaced relative to the fixing block 403 in the second direction.

[0078] During the adjustment process, after the integrated circuit board is adjusted to a suitable position by the adjustment equipment, the integrated circuit board is set between the pressing block 404 and the positioning block 402. The integrated circuit board corresponds to the two positioning blocks 402 in the first direction, and the pressing block 404 is pushed toward the positioning block 402 through the threaded cooperation between the pressing block fixing piece 406 and the fixing block 403, so that the distance between the clamping part 405 and the positioning block 402 is reduced, so that the integrated circuit board located between the clamping part 405 and the positioning block 402 can be fixed.

[0079] In this embodiment, the fixing block 403 is separated on both sides of the positioning block 402 in the second direction. Two integrated circuit boards can be positioned on the corresponding positioning frame 403. In other embodiments, the fixing block can also be located only on one side of the positioning block in the second direction.

[0080] In this embodiment, the adjustment device further includes: a platform 800 located at the bottom of the three-dimensional adjustment frame 100 , and a surface normal of the platform 800 extends along the first direction Y.

[0081] The platform 800 provides an adjustment basis for the adjustment equipment. When the adjustment equipment is working, the three-dimensional adjustment frame is displaced relative to the platform 800.

[0082] In this embodiment, the assembling and adjusting equipment further includes: a supporting platform 900 for placing the lens barrel bracket 700 .

[0083] The present invention also provides a second embodiment of the adjustment device.

[0084] The similarities between the laser radar in the second embodiment and the laser radar in the first embodiment are not repeated here. The differences between the laser radar in the second embodiment and the laser radar in the first embodiment are:

[0085] The laser radar further includes: a folding reflector bracket 600, which corresponds to the lens group (not shown in the figure) and has a sliding fit in the second direction.

[0086] In this embodiment, the folding reflector bracket 600 is used to place the receiving plate, and a folding reflector is placed on the folding reflector bracket 600. The sliding fit refers to that the folding reflector bracket 600 slides relative to the lens barrel bracket 700 through the first surface 703 and the second surface 704, so that the position between the receiving plate on the folding reflector bracket 600 and the lens group changes.

[0087] The similarities between the second embodiment and the first embodiment are not described in detail here. The difference between the second embodiment and the first embodiment is that:

[0088] In this embodiment, the adjustment device is a receiving adjustment device.

[0089] In this embodiment, the adjustment device includes: a linear drive structure 500 having a second target output end for driving the folding reflector bracket 600 to move in the second direction.

[0090] The receiving plate is located on the folding reflector bracket 600. When the linear drive structure 500 pushes the folding reflector bracket 600 to move in the second direction, the folding reflector bracket 600 drives the receiving plate and the folding reflector to move. By adjusting the distance between the folding reflector and part of the optical path of the receiving plate relative to the lens group, the receiving plate can be located at a suitable distance relative to the lens group, thereby achieving the purpose of adjusting the optical link between the transmitting plate and the receiving plate, thereby improving the accuracy of the laser radar transceiver optical link.

[0091] In addition, the linear drive structure 500, when pushing the folding reflector bracket 600 to move in the second direction, also has the function of adjusting the distance between the receiving lens barrel and the folding reflector, so that the folding reflector is located in the focal plane of the receiving lens barrel, so that the echo light beam passes through the lens group and can be better converged on the receiving plate after being reflected by the folding reflector.

[0092] When the linear driving structure 500 drives the folding reflector bracket 600, the range of movement in the second direction is less than 1.5 mm. As an example, the linear driving structure 500 drives the folding reflector bracket 600 to move a distance of -0.5 mm to 1 mm in the second direction relative to the initial position.

[0093] In this embodiment, the linear drive structure includes a differential head, which is suitable for adjusting micro displacement.

[0094] It should be noted that in other embodiments, when the emitting board has a vertical-cavity surface-emitting laser (VCSEL), the folding reflector bracket and the linear drive structure can also be configured on the emitting board to adjust the optical path of the emitting light beam emitted by the reflecting board.

[0095] The present invention also proposes a method for adjusting the Figures 6 to 10 , shows a schematic flow chart of the first embodiment of the installation and adjustment method.

[0096] The assembly and adjustment method is applicable to the assembly and adjustment of an integrated circuit board of a laser radar, wherein the integrated circuit board has a first direction Y and a second direction Z that are perpendicular to each other.

[0097] refer to Figure 6 The installation method is characterized in that it includes: step S1, clamping the integrated circuit board; step S2, rotating the integrated circuit board in the plane formed by the first direction and the second direction; step S3, moving the integrated circuit board in at least one direction of the first direction, the second direction and the third direction, wherein the third direction is perpendicular to the plane where the first direction and the second direction are located; step S4, after moving the integrated circuit board in at least one direction of the first direction, the second direction and the third direction, fixing the integrated circuit board on the laser radar.

[0098] In the embodiment of the present invention, after the integrated circuit board is clamped, the integrated circuit board is moved in the first direction, the second direction, and the third direction, so that the rotational freedom of the integrated circuit board in the plane where the first direction and the second direction are located can adjust the installation position and inclination angle of the integrated circuit board, improve the installation accuracy, and then improve the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In addition, this embodiment limits the movement in the first direction, the second direction, and the third direction to avoid the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the installation efficiency.

[0099] In this embodiment, the laser radar includes: a transmitting unit (not shown in the figure), which is used to provide a transmitting light beam, and the transmitting light beam is reflected by the target object to form an echo light beam, and the emission direction of the transmitting light beam is the second direction.

[0100] Correspondingly, the integrated circuit board includes the transmitting board (Tx), and the integrated circuit board includes at least one transmitting board, the transmitting board is used to provide a transmitting light beam, the transmitting light beam is reflected by the target object to form an echo light beam, and the transmitting light beam is emitted along a second direction.

[0101] Correspondingly, the adjustment method for at least one launch plate includes: rotating the launch plate in a plane formed by the first direction and the second direction; moving the launch plate in at least one direction among the first direction, the second direction and the third direction; after moving the launch plate in at least one direction among the first direction, the second direction and the third direction, fixing the launch plate on the launch unit.

[0102] In this embodiment, the transmitting unit includes a transmitting plate (Tx), and the transmitting light beam is provided by the transmitting plate. The transmitting plate has an edge emitting laser diode (EEL). Accordingly, when the transmitting unit is working, the transmitting light beam is located in the plane where the first direction and the second direction are located, which reduces the folding reflector in the laser radar, which is conducive to meeting the miniaturization requirements of the laser radar. In other embodiments, the transmitting plate has a vertical cavity surface emitting laser (VCSEL). Accordingly, when the transmitting unit is working, the transmitting light beam is perpendicular to the plane where the first direction and the second direction are located.

[0103] In this embodiment, the laser radar includes: a receiving unit (not shown in the figure), which is used to receive the echo light beam, and the incident direction of the echo light beam is the second direction.

[0104] Accordingly, the integrated circuit board includes a receiving board (Rx). The integrated circuit board includes a receiving board, and the receiving board is used to receive the echo light beam.

[0105] Correspondingly, the adjustment method for the receiving plate includes: rotating the receiving plate in a plane formed by the first direction and the second direction; moving the receiving plate in at least one of the first direction, the second direction and the third direction; after moving the receiving plate in at least one of the first direction, the second direction and the third direction, fixing the receiving plate on the receiving unit.

[0106] In this embodiment, the receiving unit includes a receiving board (Rx), the echo light beam is received by the receiving board, and the receiving board has a detector. Specifically, the detector includes an avalanche photo diode (APD), a silicon photomultiplier (SiPM) or a single photon avalanche diode (SPAD).

[0107] The laser radar also includes: a lens group (not shown in the figure) for transmitting the transmitted light beam or receiving the echo light beam, and the emission direction of the transmitted light beam or the incident direction of the echo light beam is the second direction.

[0108] In this embodiment, the lens group (not shown in the figure) includes a receiving lens barrel (not shown in the figure) and the transmitting lens barrel (not shown in the figure) located above the receiving lens barrel, and the extension direction of the receiving lens barrel is the same as the extension direction of the transmitting lens barrel. The transmitting lens barrel is used to transmit the transmitting light beam, and the receiving lens barrel is used to transmit the receiving light beam.

[0109] The laser radar further comprises: a lens barrel support 700 for placing a lens group, the lens barrel support comprises a first lens hole 701 and a second lens hole 702 located on the first lens hole 701, the receiving lens barrel is located in the first lens hole 701, the transmitting lens barrel is located in the second lens hole 702, and the side of the first lens hole 701 has a first surface 703 (such as Figure 5 The bottom of the second mirror hole 702 has a second surface 704 (as shown) parallel to the extending direction of the first mirror hole 701. Figure 5 shown).

[0110] Because the extending direction of the first mirror hole 701 is the same as the extending direction of the second mirror hole 702 , the extending direction of the receiving lens barrel is the same as the extending direction of the transmitting lens barrel.

[0111] In this embodiment, the adjustment method is performed using adjustment equipment.

[0112] Specifically, in step S1, the clamping part 300 is used to clamp the integrated circuit board.

[0113] In this embodiment, the clamping portion 300 includes: a first support 301, the bottom of the first support 301 has a first extension portion 305 bent upward; a second support 302, located on the first support 301, the second support 302 has a second extension portion 304 opposite to the first extension portion 305; a fixed support portion 306, located at one end of the bottom of the second support 302; a threaded fixing member 303, passing through the second support 302 and contacting the top of the fixed support portion 306.

[0114] In other embodiments, the clamping portion may also be other structures capable of clamping an integrated circuit board.

[0115] Specifically, refer to Figure 7 The steps of using the clamping part 300 to clamp the integrated circuit board include:

[0116] Step S11 , rotating the threaded fixing member 303 to increase the distance between the end of the second extending portion 304 away from the fixing support portion 306 and the first extending portion 305 .

[0117] The distance between the end of the second extension portion 304 away from the fixed support portion 306 and the first extension portion 305 becomes larger, so as to prepare for placing an integrated circuit board between the end of the second extension portion 304 away from the fixed support portion 306 and the first extension portion 305 .

[0118] Step S12 , placing the integrated circuit board between the first extension portion 305 and the second extension portion 304 .

[0119] Step S13, rotating the threaded fixing part 303 to make the end of the second extension part 304 close to the fixed support part 306 bend upward, and make the end of the second extension part 304 away from the fixed support part 306 bend downward, and the end of the second extension part 304 away from the fixed support part 306 and the first extension part 305 clamp the integrated circuit board.

[0120] Specifically, the angle adjustment mechanism 200 in the assembling and adjusting device is used to rotate the integrated circuit board in a plane formed by the first direction and the second direction.

[0121] In the present adjustment device, the adjustment position and inclination angle of the integrated circuit board can be adjusted by the rotational freedom of the integrated circuit board in the plane where the first direction and the second direction are located through the angle adjustment mechanism 200, thereby improving the adjustment accuracy, and thus improving the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In addition, the present embodiment limits the rotation in the plane where the first direction and the second direction are located, avoiding the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency.

[0122] In this embodiment, the angle adjustment mechanism 200 includes: a meshing transmission structure including a worm 201 and a worm wheel 202 meshing with the worm 201 , and the worm wheel 202 is the output end of the angle adjustment mechanism 200 .

[0123] The worm 201 and the worm wheel 202 have the characteristics of a low transmission ratio. By adjusting the worm 201, the worm wheel 202 can be accurately rotated in the plane where the first direction and the second direction are located, which makes it easy for the integrated circuit board clamped by the holding part 300 to have a suitable adjustment position and inclination angle in the plane where the first direction and the second direction are located.

[0124] The worm 201 and the worm wheel 202 have a self-locking property. When the integrated circuit board clamped by the clamping part 300 reaches a preset angle position, the angle of the integrated circuit board in the plane where the first direction and the second direction are located is not easy to change, so that the stability of the installation and adjustment equipment is relatively high, and the optical link uniformity of each installed laser radar is relatively high.

[0125] The angle adjustment mechanism 200 also includes: an angle fixing frame 203, which is used to set the meshing transmission structure, and the angle fixing frame 203 includes: a first fixing plate 2031, which is used to be fixedly connected to the output end of the three-dimensional adjustment frame 100; a second fixing plate 2032, which stands on the side of the first fixing plate 2031; a third fixing plate 2032, which is connected to the top of the second fixing plate 2032 and extends to the top of the first fixing plate 2031, and the worm 201 passes through the third fixing plate 2032 and rotates with the third fixing plate 2032; the angle adjustment mechanism 200 also includes: a rotating shaft 2033, one end of the rotating shaft 2033 is fixedly connected to the worm wheel 202, and the other end of the rotating shaft 2033 passes through the second fixing plate 2032 and is fixedly connected to the clamping part 300.

[0126] The angle adjustment mechanism 200 further includes: a worm gear fixing screw 2035 rotatably disposed in the second fixing plate 2032 , wherein the extending direction of the worm gear fixing screw 2035 is perpendicular to the extending direction of the rotating shaft 2033 , and is used to fix the rotating shaft 2033 .

[0127] It should be noted that the rotating shaft 2033 and the second fixing plate 2032 are rotationally matched, and the structure adopted is, for example, a bearing.

[0128] In this embodiment, the extension direction of the rotating shaft 2033 is the same as the third direction. Since the first direction, the second direction and the third direction are perpendicular to each other, the clamping portion 300 connected to the rotating shaft 2033 can rotate within the plane where the first direction and the second direction are located.

[0129] In this embodiment, the second fixing plate 2032 is perpendicular to the third fixing plate 2034 .

[0130] Specifically, refer to Figure 8 Step S2, the step of using the angle adjustment mechanism 200 to rotate the integrated circuit board in the plane formed by the first direction and the second direction comprises:

[0131] Step S21 , rotating the worm gear fixing screw 2035 to separate the worm gear fixing screw 2035 from the rotating shaft 2033 .

[0132] The worm gear fixing screw 2035 is separated from the rotating shaft 2033 to prepare for the subsequent rotation of the worm 201 to drive the worm 202 to rotate.

[0133] Step S22 , rotating the worm 201 , the worm 201 is meshed with the worm wheel 202 , so that the worm wheel 202 drives the rotating shaft 2033 to rotate.

[0134] The rotating shaft 2033 transmits the rotation of the worm wheel 202 in the plane where the first direction and the second direction are located to the clamping part 300, so that when the adjustment structure is working, the clamping part 300 can be driven to rotate in the plane where the first direction and the second direction are located.

[0135] Step S23 , rotating the worm gear fixing screw 2035 so that the worm gear fixing screw 2035 fixes the rotating shaft 2033 .

[0136] The worm gear fixing screw 2035 fixes the rotating shaft 2033, so that when the integrated circuit board is subsequently moved in at least one of the first direction, the second direction and the third direction (X), the adjustment position and the inclination angle of the integrated circuit board in the plane where the first direction and the second direction are located will not change.

[0137] As an example, when the angle adjustment mechanism 200 is used to adjust the integrated circuit board, the angle of rotation in the plane where the first direction and the second direction are located is less than 10°. As an example, the adjustment range of the integrated circuit board relative to the initial position ranges from -5° to 5°.

[0138] Specifically, the three-dimensional adjustment frame 100 is used to move the integrated circuit board in at least one of the first direction, the second direction and the third direction.

[0139] In the present adjustment device, the integrated circuit board is moved in the first direction, the second direction, and the third direction to adjust the adjustment position and inclination of the integrated circuit board clamped by the clamping part, which is conducive to improving the adjustment accuracy, thereby improving the optical path accuracy of the installed laser radar and the accuracy of laser radar distance detection. In addition, the three-dimensional adjustment frame limits the adjustment in the first direction, the second direction, and the third direction, avoiding the disorderly adjustment caused by too much manual adjustment freedom, which is correspondingly conducive to improving the adjustment efficiency.

[0140] In this embodiment, the three-dimensional adjustment frame 100 includes: a third moving platform 103, a first moving platform 101 located on the third moving platform 103, and a second moving platform 102 located on the first moving platform. The components of the three-dimensional adjustment frame 100 have been described in detail above and will not be repeated here.

[0141] Specifically, refer to Fig. 9 Step S3, the step of using the three-dimensional adjustment frame 100 to move the integrated circuit board in at least one of the first direction, the second direction and the third direction comprises:

[0142] Step S31: The second mobile station adjusts the position of the first target output terminal along a second direction.

[0143] Step S32: the first mobile station adjusts the position of the first target output terminal along a first direction, and the position adjustment of the first mobile station along the first direction drives the position adjustment of the second mobile station in the first direction.

[0144] Step S33: the third mobile station adjusts the position of the first target output terminal along the third direction. During the process of adjusting the position of the third mobile station along the third direction, the first mobile station and the second mobile station are driven to adjust their positions in the third direction.

[0145] In the embodiment of the present invention, steps S31, S32 and S33 are performed in no particular order.

[0146] It should be noted that, in the adjustment method, the step of moving the integrated circuit board in at least one of the first direction, the second direction and the third direction (X) is located after the integrated circuit board rotates in the plane formed by the first direction and the second direction.

[0147] In this embodiment, the movement of the integrated circuit board in the first direction, the second direction and the third direction can compensate, to a certain extent, for the limitation of the rotation of the integrated circuit board within the plane where the first direction and the second direction are located.

[0148] In this embodiment, when the three-dimensional adjustment frame 100 is used to adjust the transmitting plate, the range of movement of the three-dimensional adjustment frame 100 in the second direction is less than 1.2 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the second direction relative to the initial position is -0.2 mm to 1 mm. The range of movement of the three-dimensional adjustment frame 100 in the first direction is less than 1.4 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the first direction relative to the initial position is -0.7 mm to 0.7 mm.

[0149] When the three-dimensional adjustment frame 100 is used to adjust the receiving plate, the range of movement of the three-dimensional adjustment frame 100 in the second direction is less than 1.5 mm. As an example, the adjustment range of the three-dimensional adjustment frame 100 in the second direction relative to the initial position is -0.5 mm to 1 mm. And the first target output end of the three-dimensional adjustment frame 100, at the initial position in the plane where the second direction and the first direction are located, is located in a circle with a radius of 0.9 mm of the preset ideal position.

[0150] Specifically, an integrated circuit board fixing device 400 is used to fix the integrated circuit board on the laser radar.

[0151] Combined with reference Figure 4The laser radar includes: an integrated circuit board fixing device 400, which is arranged opposite to the first mirror hole 701 or the second mirror hole 702, and the integrated circuit board fixing device 400 includes: a positioning frame 401; a positioning block 402, which is separated from the positioning frame 401 in the first direction, and the number of the positioning blocks 402 is two; a fixing block 403, which is located on the positioning frame 401 at the side of the positioning block 402 in the second direction and is spaced apart from the positioning block 402; a pressing block 404, wherein the pressing block 404 has a groove on the side wall in the second direction, and the groove is slidably matched with the fixing block 403 in the second direction, and has a pressing portion 405 protruding in the second direction on both sides of the groove in the first direction, and the pressing portion 405 is used to match with the positioning block 402; a pressing block fixing piece 406, which passes through the pressing block 404 and is threadedly matched with the fixing block 403, so that the pressing block 404 is displaced relative to the fixing block 403 in the second direction.

[0152] Specifically, refer to Fig.10 Step S4, the integrated circuit board fixing device 400 fixes the integrated circuit board on the laser radar, including:

[0153] Step S41 , disposing the integrated circuit board between the pressing block 404 and the positioning block 402 .

[0154] Step S42: Push the pressing block 404 toward the positioning block 402 through the threaded engagement between the pressing block fixing piece 406 and the fixing block 403, so that the distance between the pressing portion 405 and the positioning block 402 is reduced, and the integrated circuit board between the pressing portion 405 and the positioning block 402 can be fixed.

[0155] refer to Fig.11 , shows a schematic flow chart of the second embodiment of the installation and adjustment method.

[0156] The similarities between the embodiment of the present invention and the first embodiment are not repeated here. The difference from the first embodiment is that the laser radar further includes: a folding reflector bracket 600, which corresponds to the lens group and has a sliding fit in the second direction.

[0157] The installation method further includes: step S5, before rotating the integrated circuit in the plane formed by the first direction and the second direction, adjusting the folding reflector bracket 600 along the second direction to adjust the distance of the folding reflector bracket 600 relative to the lens group.

[0158] In this embodiment, the folding reflector bracket 600 has a sliding fit in the second direction, which means that the folding reflector bracket 600 slides relative to the lens barrel bracket 700 through the first surface 703 and the second surface 704, so that the position between the receiving plate on the folding reflector bracket 600 and the lens group changes.

[0159] The distance between the receiving lens barrel and the folding reflector is adjusted so that the folding reflector is located within the focal plane of the receiving lens barrel, so that the echo light beam passes through the lens group and can be better converged on the receiving board after being reflected by the folding reflector. Then, in the subsequent process of rotating the integrated circuit board in the plane formed by the first direction and the second direction, the echo light beam can still be converged on the receiving board.

[0160] In this embodiment, the adjustment method uses the linear drive structure 500 to push the folding reflector bracket 600 to move in the second direction.

[0161] In this embodiment, the linear drive structure includes a micrometer head, which is suitable for adjusting micro displacement, so that micro displacement can be adjusted between the folding reflector, the receiving plate and the lens group.

[0162] The receiving plate is located on the folding reflector bracket 600. When the linear drive structure 500 pushes the folding reflector bracket 600 to move in the second direction, the folding reflector bracket 600 drives the receiving plate and the folding reflector to move. By adjusting the distance between the folding reflector and the receiving plate part of the optical path relative to the lens group, the receiving plate can be located at a suitable distance relative to the lens group, thereby achieving the purpose of adjusting the optical link between the transmitting plate and the receiving plate, thereby improving the accuracy of the laser radar transceiver optical link.

[0163] When the linear driving structure 500 drives the folding reflector bracket 600, the range of movement in the second direction is less than 1.5 mm. As an example, the linear driving structure 500 drives the folding reflector bracket 600 to move a distance of -0.5 mm to 1 mm in the second direction relative to the initial position.

[0164] The installation method further includes: step S6, before rotating the integrated circuit in the plane formed by the first direction and the second direction, adjusting the folding reflector bracket 600 along the third direction to adjust the distance of the folding reflector bracket 600 relative to the lens group.

[0165] The folding reflector bracket 600 slides relative to the lens barrel bracket 700 through the first surface 703 and the second surface 704, so that the positions of the receiving plate and the lens group on the folding reflector bracket 600 along the third direction change. By adjusting the distance between the folding reflector and the receiving plate part of the optical path relative to the lens group, the receiving plate can be located at a suitable distance relative to the lens group, so as to achieve the purpose of adjusting the optical link between the transmitting plate and the receiving plate, and improve the accuracy of the laser radar transceiver optical link.

[0166] It should be noted that, in other embodiments, when a vertical cavity surface emitting laser (VCSEL) is provided on the emitting plate, the folding reflector bracket and the linear drive structure can also be matched with the emitting plate to adjust the optical path of the emitting light beam emitted by the reflecting plate.

[0167] It should be noted that the folding reflector bracket 600 can be adjusted in the second direction and in the third direction in either order. In other embodiments, the folding reflector bracket can be adjusted in the second direction after the third direction is adjusted.

[0168] It should be noted that, in some embodiments, the folding reflector bracket can also be adjusted only in the second direction.

[0169] In some other embodiments, the folding reflector bracket can also be adjusted only in the third direction.

[0170] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and therefore the scope of protection of the present invention shall be subject to the scope defined by the claims. Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and therefore the scope of protection of the present invention shall be subject to the scope defined by the claims.

Claims

1. An adjustment device, suitable for the adjustment of integrated circuit boards of laser radars, characterized in that: include: A three-dimensional adjustment frame, an angle adjustment mechanism connected to the three-dimensional adjustment frame, and a clamping portion connected to the angle adjustment mechanism, wherein the clamping portion has a first target output end; The three-dimensional adjustment frame comprises: A first moving platform, used to adjust the position of a first target output end along a first direction; A second moving stage, used to adjust the position of the first target output end along a second direction; A third mobile station is used to adjust the position of the first target output terminal along a third direction, wherein the third direction is perpendicular to the plane where the second direction and the first direction are located; the first mobile station, the second mobile station and the third mobile station are connected in series; The angle adjustment mechanism is used to realize the rotation of the first target output end within the plane where the first direction and the second direction are located; The clamping portion is used to clamp the integrated circuit board; Wherein, the angle adjustment mechanism includes a meshing transmission structure and an angle fixing frame, the meshing transmission structure includes a worm and a worm wheel meshed with the worm, the worm wheel is the output end of the angle adjustment mechanism, and the angle fixing frame is used to set the meshing transmission structure and includes: a first fixing plate; A second fixing plate, standing on a side of the first fixing plate; A third fixing plate is connected to the top of the second fixing plate and extends to the top of the first fixing plate, and the worm screw passes through the third fixing plate and is rotatably matched with the third fixing plate; The angle adjustment mechanism further includes: a rotating shaft, one end of which is fixedly connected to the worm gear, and the other end of which passes through the second fixing plate and is fixedly connected to the clamping portion.

2. The adjustment device according to claim 1, characterized in that: The laser radar comprises: A lens group, used for transmitting the emission light beam or receiving the echo light beam, wherein the emission direction of the emission light beam or the incident direction of the echo light beam is a second direction; A folding reflector bracket, corresponding to the lens group and having a sliding fit in the second direction; The adjustment device comprises: a linear drive structure having a second target output end for driving the folding reflector bracket to move in a second direction.

3. The adjustment device according to claim 1, characterized in that: The laser radar comprises: a transmitting unit, and the integrated circuit board comprises a transmitting board; The laser radar comprises: a receiving unit, and the integrated circuit board comprises a receiving board; The assembly and adjustment equipment is a transmitting board assembly and adjustment equipment or a receiving board assembly and adjustment equipment.

4. The adjustment device according to claim 2, characterized in that: The laser radar comprises: a receiving unit, and the integrated circuit board comprises a receiving board; The assembly and adjustment equipment is a receiving plate assembly and adjustment equipment.

5. The adjustment device according to claim 2 or 4, characterized in that: The linear drive structure includes a differential head.

6. The adjustment device according to claim 1 or 2, characterized in that: The first mobile station is located on the third mobile station, and the second mobile station is located on the first mobile station.

7. The adjustment device according to claim 1, characterized in that: The extending direction of the rotation axis is the same as the third direction.

8. The adjustment device according to claim 1, characterized in that: The second fixing plate is perpendicular to the third fixing plate, and the second fixing plate is located in a plane where the first direction and the second direction are located.

9. The adjustment device according to claim 1, characterized in that: The angle adjustment mechanism also includes: A worm gear fixing screw is rotatably disposed in the second fixing plate, wherein an extending direction of the worm gear fixing screw is perpendicular to an extending direction of the rotating shaft, and is used to fix the rotating shaft.

10. The adjustment device according to claim 1 or 2, characterized in that: The clamping portion comprises: A first bracket, wherein the bottom of the first bracket has a first extending portion bent upward; A second bracket, located on the first bracket, the second bracket having a second extension portion opposite to the first extension portion; A fixed support portion, located at one end of the bottom of the second bracket; A threaded fixing member passes through the second bracket and contacts the top of the fixing support portion.

11. The adjustment device according to claim 1, characterized in that: The adjustment device further comprises: a platform located at the bottom of the three-dimensional adjustment frame, and a surface normal of the platform extends along a first direction.

12. A method for assembling an integrated circuit board of a laser radar, wherein the integrated circuit board has a first direction and a second direction perpendicular to each other, wherein the method for assembling an integrated circuit board is characterized in that: include: Clamping the integrated circuit board; Rotate the integrated circuit board in a plane formed by the first direction and the second direction; Move the integrated circuit board in at least one of the first direction, the second direction and the third direction, wherein the third direction is perpendicular to the plane where the first direction and the second direction are located; After moving the integrated circuit board in at least one of the first direction, the second direction and the third direction, fixing the integrated circuit board on the laser radar; Wherein, the integrated circuit board is clamped by a clamping part, and the steps of clamping the integrated circuit board by the clamping part include: Rotate the threaded fixing member to increase the distance between the end of the second extension portion away from the fixed support portion and the first extension portion; placing the integrated circuit board between the first extension portion and the second extension portion; The threaded fixing piece is rotated to make the end of the second extension part close to the fixed support part bend upward, and the end of the second extension part away from the fixed support part bend downward, and the end of the second extension part away from the fixed support part and the first extension part clamp the integrated circuit board.

13. The adjustment method according to claim 12, characterized in that: The laser radar comprises: a lens group, used for transmitting a transmission light beam or receiving an echo light beam, wherein the direction of the transmission light beam or the echo light beam is a second direction; The integrated circuit board is a transmitting board or a receiving board; A folding reflector bracket, corresponding to the lens group and having a sliding fit in the second direction; The adjustment method further comprises: Before rotating the integrated circuit in a plane formed by the first direction and the second direction, the folding reflector bracket is adjusted along the second direction to adjust the distance of the folding reflector bracket relative to the lens group.

14. The adjustment method according to claim 12 or 13, characterized in that: The laser radar comprises a transmitting unit; The integrated circuit board includes at least one transmitting board, and the transmitting board is used to provide a transmitting light beam, and the transmitting light beam is reflected by a target object to form an echo light beam, and the transmitting light beam is emitted along a second direction.

15. The adjustment method according to claim 12 or 13, characterized in that: The laser radar also includes a receiving unit; The integrated circuit board comprises a receiving board, and the receiving board is used for receiving the echo light beam.

16. The adjustment method according to claim 13, characterized in that: The adjustment method comprises: Before the integrated circuit board is rotated in the plane formed by the first direction and the second direction, the folding reflector bracket is further adjusted along the third direction to adjust the distance of the folding reflector bracket relative to the lens group.

17. The adjustment method according to claim 12, characterized in that: The step of rotating the integrated circuit board in the plane formed by the first direction and the second direction by using the angle adjustment mechanism as claimed in claim 9 comprises: Rotating the worm gear fixing screw to separate the worm gear fixing screw from the rotating shaft; The worm is rotated, and the worm is meshed with the worm wheel, so that the worm wheel drives the rotating shaft to rotate; The worm gear fixing screw is rotated so that the worm gear fixing screw fixes the rotating shaft.

18. The adjustment method according to claim 12, characterized in that: The step of using the three-dimensional adjustment frame as claimed in claim 6 to move the integrated circuit board in at least one of the first direction, the second direction and the third direction comprises: The second mobile station realizes the position adjustment of the first target output end along the second direction; The first mobile station realizes the position adjustment of the first target output terminal along the first direction, and the position adjustment of the first mobile station along the first direction drives the second mobile station to adjust its position in the first direction; The third mobile station realizes the position adjustment of the first target output terminal along the third direction. During the process of the position adjustment of the third mobile station along the third direction, the first mobile station and the second mobile station are driven to adjust their positions in the third direction.

19. The adjustment method according to claim 12, characterized in that: The step of moving the integrated circuit board in at least one of the first direction, the second direction and the third direction is after the integrated circuit board rotates within the plane formed by the first direction and the second direction.

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