A method for adjusting a ranging module, a ranging module and a laser radar

Abstract

The application relates to the technical field of photoelectric detection, in particular to a ranging module assembling and adjusting method, a ranging module and a laser radar. The ranging module assembling and adjusting method comprises the following steps: fixing a transmitting unit and a receiving unit on a circuit substrate, the transmitting unit and the receiving unit are arranged at intervals and are electrically connected with the circuit substrate; installing a support on the circuit substrate, the support is provided with a first transmitting lens barrel and a receiving lens barrel which are integrally formed, the first transmitting lens barrel faces the transmitting unit, and the receiving lens barrel faces the receiving unit; fixing a receiving lens in the receiving lens barrel; fixing a transmitting lens by using the first transmitting lens barrel and realizing focusing, so that the transmitting unit is located at the focal point of the transmitting lens. The embodiment of the application is simple to assemble and adjust, can improve the efficiency and is easy to implement.

Description

Technical Field

[0001] This application relates to the field of photoelectric detection technology, and in particular to a method for assembling and adjusting a ranging module, a ranging module, and a lidar. Background Technology

[0002] LiDAR (Light Detection and Ranging) is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of targets. Its working principle involves emitting a detection signal (laser beam) towards the target, then receiving the signal reflected back from the target (target echo), and calculating the time of flight between the emitted and echo signals to obtain the target's distance information. With technological advancements, LiDAR is widely used in fields such as UAV mapping, autonomous driving, robot environmental perception, security protection, high-precision mapping, and robotic vacuum cleaners, and is continuously expanding into new application areas. Based on different technical principles, LiDAR can be mainly divided into triangulation-based LiDAR and time-of-flight (TOF) LiDAR.

[0003] Currently, TOF lidar mainly consists of a ranging module and a rotating base that enables the ranging module to rotate at high speed. However, the ranging module generally has a complex structure, is difficult to assemble and adjust, and is challenging to operate.

[0004] One research and development direction is to provide ranging modules that are easy to assemble and have stable performance. Summary of the Invention

[0005] In view of this, the embodiments of this application provide a method for assembling and adjusting a ranging module, a ranging module, and a lidar, which can solve at least one technical problem in the related art.

[0006] In a first aspect, one embodiment of this application provides a method for assembling and adjusting a ranging module, comprising: fixing a transmitting unit and a receiving unit on a circuit board, wherein the transmitting unit and the receiving unit are spaced apart and both are electrically connected to the circuit board; mounting a bracket on the circuit board, wherein the bracket is provided with an integrally formed first transmitting lens barrel and a receiving lens barrel, the first transmitting lens barrel facing the transmitting unit and the receiving lens barrel facing the receiving unit; fixing a receiving lens inside the receiving lens barrel; and using the first transmitting lens barrel to fix the transmitting lens and achieve focusing, such that the transmitting unit is located at the focal point of the transmitting lens.

[0007] The assembly and adjustment method provided in this embodiment is simple to assemble and adjust because most of the optical structure of the ranging module is fixed by a bracket, thereby improving the assembly and adjustment efficiency and making it easier to mass-produce.

[0008] Secondly, one embodiment of this application provides a ranging module, comprising: a circuit board; a transmitting unit and a receiving unit disposed on the circuit board, the transmitting unit and the receiving unit being spaced apart and both electrically connected to the circuit board; a bracket disposed on the circuit board, the bracket having an integrally formed receiving lens barrel and a first transmitting lens barrel disposed on the bracket, the first transmitting lens barrel facing the transmitting unit and the receiving lens barrel facing the receiving unit; a receiving lens fixed inside the receiving lens barrel; and a transmitting lens, the transmitting lens being fixed by the first transmitting lens barrel and focusing is achieved, such that the transmitting unit is located at the focal point of the transmitting lens.

[0009] Thirdly, one embodiment of this application provides a lidar, including: a rotating base and the aforementioned ranging module, wherein the ranging module is mounted on the rotating base.

[0010] It should be understood that the beneficial effects of the second and third aspects can be found in the relevant description of the first aspect embodiment, and will not be repeated here. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in an embodiment of this application;

[0013] Figure 2 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application;

[0014] Figure 3 yes Figure 2 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module.

[0015] Figure 4 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application;

[0016] Figure 5 yes Figure 4 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module.

[0017] Figure 6 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application;

[0018] Figure 7 yes Figure 6 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module.

[0019] Figure 8 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application;

[0020] Figure 9 yes Figure 8 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module.

[0021] Figure 10 This is a schematic diagram of the structure of a lidar provided in one embodiment of this application;

[0022] Figure 11 This is a schematic diagram of the structure of a ranging module provided in one embodiment of this application from one perspective;

[0023] Figure 12 This is an exploded view of the structure of a ranging module provided in one embodiment of this application;

[0024] Figure 13 This is a structural schematic diagram of a ranging module provided in one embodiment of this application from another perspective. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] In this application specification and the appended claims, the term "and / or" as used means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0027] Unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0028] Unless otherwise expressly specified and limited, "above," "over," "on top," "below," "below," or "under" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0029] Unless otherwise expressly specified and limited, the terms "upper," "lower," "right," "left," etc., refer to the orientation or positional relationship shown in the accompanying drawings, and are used only for ease of description and simplification of operation. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning. The term "multiple" means two or more.

[0030] The terms "one embodiment" or "some embodiments" described in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0031] To illustrate the technical solution described in this application, specific embodiments are provided below.

[0032] Figure 1 This is a schematic diagram illustrating the implementation flow of a ranging module assembly and adjustment method provided in an embodiment of this application. Figure 1 As shown, the assembly and adjustment method of the ranging module may include steps S110 to S140.

[0033] S110, a transmitting unit and a receiving unit are fixed on a circuit board. The transmitting unit and the receiving unit are spaced apart and are both electrically connected to the circuit board.

[0034] In some embodiments, a transmitting unit and a receiving unit are fixed at preset positions on a circuit board, with the preset positions for fixing the transmitting unit and the preset positions for fixing the receiving unit on the circuit board being spaced apart. The transmitting unit and the receiving unit are typically integrated light source chips and pixel chips, and the chips can be fixed on the substrate in a top-mounted or flip-chip mounting manner. The circuit board may include a printed circuit board (PCB).

[0035] In some embodiments, the emitting unit is a light source, which can be a single light source or an array of light sources. The light source includes, but is not limited to, a Vertical Cavity Surface Emitting Laser (VCSEL). Preferably, the emitting unit is a single-point VCSEL chip. The emitting unit is configured to emit one or more light signals toward a target object. The receiving unit may include a sensor array, preferably a pixel array composed of multiple SPADs. The receiving unit can be configured to receive at least a portion of the light signal reflected back from the target object and output a detection signal. The SPADs can count the incident single photons, for example, using Time-Correlated Single Photon Counting (TCSPC) to acquire weak light signals and calculate flight times, offering advantages such as high sensitivity and fast response speed, enabling long-distance, high-precision measurements.

[0036] As a non-limiting example, the transmitting unit and the receiving unit are first attached to predetermined positions on the circuit board using a die-bonding material such as adhesive. Then, wire bonding is performed between the circuit board and the transmitting unit to achieve electrical connection between them, and wire bonding is performed between the circuit board and the receiving unit to achieve electrical connection between them.

[0037] S120, a filter is fixed on a bracket. The bracket has an integrally formed receiving lens tube, and the filter is located at the light-emitting end of the receiving lens tube.

[0038] In some embodiments, a filter is used in the ranging module to filter out background light and / or stray light. The filter is positioned at the light-emitting end of the receiving lens tube so that at least a portion of the light signal reflected back from the target object can be incident on the receiving unit after being filtered by the filter.

[0039] It should be noted that the timing relationship between steps S110 and S120 is not limited in the embodiments of this application. Step S120 may be executed after step S110, before step S110, or synchronously with step S110. The embodiments of this application do not impose any restrictions on this.

[0040] In some other embodiments, the ranging module may not use a filter, so there is no need to fix the filter on the bracket. In this case, step S120 is not required. After step S110 is completed, step S130 is performed to fix the bracket on the circuit board.

[0041] S130, mount the bracket on the circuit board.

[0042] The support frame includes a one-piece molded first transmitting lens tube and a one-piece molded receiving lens tube, ensuring that the first transmitting lens tube faces the transmitting unit and the receiving lens tube faces the receiving unit. Both the first transmitting lens tube and the receiving lens tube are hollow cylinders to ensure the transmission of optical signals. The optical signal emitted by the transmitting unit can be projected onto the target area through the first transmitting lens tube, while the reflected optical signal reflected by the target is incident on the receiving unit through the receiving lens tube. This arrangement effectively isolates the emitted and reflected optical signals, thereby preventing the two beams from interfering with each other and improving the accuracy of ranging.

[0043] S140, a receiving lens is fixed inside the receiving lens barrel, and a transmitting lens is fixed and focused using the first transmitting lens barrel, so that the transmitting unit is located at the focal point of the transmitting lens.

[0044] A receiving lens is used to receive at least a portion of the light signal reflected back from the target object and guide it to the receiving unit. In some embodiments, the ranging module further includes a filter, which is disposed at the light-emitting end of the receiving lens barrel, such that the receiving lens, the filter, and the receiving unit are arranged sequentially along the light propagation path. In other embodiments, the ranging module does not include a filter, and the receiving lens and the receiving unit are arranged sequentially along the light propagation path.

[0045] The first emitting lens is fixed and focused, so that the emitting unit is located at the focal point of the emitting lens. The emitting lens is used to receive the light beam emitted by the emitting unit and project it onto the target area after shaping. In some embodiments, the emitting lens is used to receive the light signal emitted from the emitting unit and optically modulate the emitted light signal, such as by collimation, diffraction, refraction, etc., and then emit the modulated light beam, such as a focused beam or a floodlight beam, into the target area.

[0046] As one possible implementation, a transmitting lens is fixed inside the first transmitting lens barrel and focused. As another possible implementation, a second transmitting lens barrel, equipped with a transmitting lens, is detachably fitted onto the first transmitting lens barrel and focused, with the second transmitting lens barrel facing the transmitting unit. It should be noted that the embodiments of this application do not specifically limit the timing relationship between the fixed receiving lens and the fixed transmitting lens.

[0047] The assembly and adjustment method for the ranging module provided in this application is simple to assemble and adjust, improves assembly and adjustment efficiency, and is easy to mass-produce because most of the optical structure of the ranging module is fixed by a bracket.

[0048] For ease of description of the embodiments, VCSEL will be used as an example of a transmitting unit, sensor as an example of a receiving unit, and PCB as an example of a circuit board in the following description. It should be understood that the exemplary description should not be construed as a specific limitation of this application.

[0049] Figure 2 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application. Figure 3 yes Figure 2 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module. (See diagram for details.) Figure 2 As shown, the assembly and adjustment method of the ranging module may include steps S210 to S260. It should be noted that the similarities between this embodiment and the previous embodiments are described above and will not be repeated here.

[0050] S210, fixes the VCSEL to the first preset position on the PCB and electrically connects the VCSEL to the PCB.

[0051] In some embodiments, the VCSEL is fixed to a first preset position on the PCB using adhesive tape, and the VCSEL is electrically connected to the PCB by wire bonding.

[0052] S220, fix the sensor at the second preset position on the PCB and electrically connect the sensor to the PCB.

[0053] In some embodiments, the sensor is fixed to a second predetermined position on the PCB using adhesive tape, and the sensor is electrically connected to the PCB via wire bonding. As a non-limiting example, combined with... Figure 3 As shown, VCSEL22 is fixed at a first preset position on PCB21, and sensor23 is fixed at a second preset position on PCB21. The first preset position and the second preset position are set at an interval.

[0054] S230, fix the filter on the bracket.

[0055] In some embodiments, a receiving lens tube integrally formed therewith is disposed on the support, and a filter is fixed to the light-emitting end of the receiving lens tube on the support by dispensing adhesive. As a non-limiting example, combined with... Figure 3 As shown, a receiving lens tube 241 integrally formed therewith is provided on the bracket 24, and a filter 25 is provided at the light-emitting end of the receiving lens tube 241.

[0056] S240, which fixes the bracket with the filter to the PCB.

[0057] In some embodiments, a bracket with the filter attached is fixed to the PCB by dispensing adhesive. As a non-limiting example, combined with... Figure 3 As shown, the bracket 24 is also provided with a first emitting lens tube 242 integrally formed with it. First, through visual alignment, the first emitting lens tube 242 is aligned with the VCSEL 22 on the PCB 21, and the receiving lens tube 241 is aligned with the sensor 23 on the PCB 21. Then, the bracket 24 with the filter 25 is fixed on the PCB 21 by dispensing glue.

[0058] S250, the receiving lens is unidirectionally pushed into the receiving lens barrel until it reaches the first limiting step and is then fixed.

[0059] As a non-restrictive example, combined with Figure 3 The receiver Rx shown has a first limiting step 2411 inside the receiver tube 241. The receiving lens is pushed into the receiver tube in one direction until it reaches the first limiting step 2411 and then glued to fix the receiving lens.

[0060] S260, adjust the VCSEL emission beam, and unidirectionally push the emission lens into the first emission lens barrel so that the diameter of the far-field light spot gradually decreases until the diameter of the far-field light spot is small enough to reach a preset threshold, then stop pushing and fix the emission lens.

[0061] As a non-restrictive example, combined with Figure 3 The outer diameter of the emitting lens of the emitting end Tx is adapted to the inner diameter of the first emitting lens tube 242, for example, the two are tightly fitted. The VCSEL22 emits a beam and the emitting lens is unidirectionally pushed into the first emitting lens tube 242 so that the emitted beam is emitted through the emitting lens to form a far-field light spot. During the pushing process, the diameter of the far-field light spot is observed to gradually decrease until the diameter of the far-field light spot is small enough to stop when it reaches a certain threshold. Then, glue is applied to fix the emitting lens at the current position.

[0062] Figure 4 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application. Figure 5 yes Figure 4 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module. (See diagram for details.) Figure 4 As shown, the assembly and adjustment method of the ranging module may include steps S410 to S460. It should be noted that the similarities between this embodiment and the previous embodiments are described above and will not be repeated here.

[0063] S410 fixes the VCSEL to a first preset position on the PCB and electrically connects the VCSEL to the PCB.

[0064] S420 fixes the sensor to a second preset position on the PCB and electrically connects the sensor to the PCB.

[0065] As a non-restrictive example, combined with Figure 5 As shown, VCSEL42 is fixed at a first preset position on PCB41, and sensor43 is fixed at a second preset position on PCB41. The first preset position and the second preset position are set at an interval.

[0066] S430, fix the filter on the bracket.

[0067] As a non-restrictive example, combined with Figure 5 As shown, a receiving lens tube 441 integrally formed with the support tube 44 is provided on the support tube 44, and a filter 45 is provided at the light-emitting end of the receiving lens tube 441.

[0068] S440, which fixes the bracket with the filter to the PCB.

[0069] As a non-restrictive example, combined with Figure 5 The transmitter Tx shown is equipped with a first transmitting lens tube 442 integrally formed with the bracket 44. First, the first transmitting lens tube 442 is aligned with the VCSEL 42 on the PCB 41 by visual alignment, and the receiving lens tube 441 is aligned with the sensor 43 on the PCB 41. Then, the bracket 44 with the filter 45 is fixed on the PCB 41 by dispensing glue.

[0070] S450, the receiving lens is unidirectionally pushed into the receiving lens barrel until it reaches the first limiting step and is then fixed.

[0071] As a non-restrictive example, combined with Figure 5 The receiver Rx shown has a first limiting step 4411 inside the receiver tube 441. The receiving lens is pushed into the receiver tube in one direction until it reaches the first limiting step 4411 and is fixed with glue.

[0072] S460, the second emitting lens tube equipped with the emitting lens is connected to the first emitting lens tube, and the VCSEL emitting beam is adjusted while the second emitting lens tube is adjusted until the emitting lens is focused.

[0073] In some embodiments, the second emitting lens tube is set independently of the support, the outer diameter of the emitting lens is adapted to the inner diameter of the second emitting lens tube, and the emitting lens is fixed inside the second emitting lens tube. Focusing of the emitting unit and the emitting lens is achieved by fitting the second emitting lens tube to the first emitting lens tube and adjusting the fitting position so that the diameter of the far-field spot emitted by the emitting beam through the emitting lens is less than a preset threshold. Specifically, under the condition of controlling the VCSEL emitting beam, the fitting of the second emitting lens tube to the first emitting lens tube is adjusted until the emitting lens is focused. As a non-limiting example, combined with... Figure 5 As shown, the second emitting lens tube 443 is independently configured, and the outer diameter of the emitting lens is adapted to the inner diameter of the second emitting lens tube 443. The emitting lens is fixed inside the second emitting lens tube 443. Specifically, a second limiting step 4431 is provided inside the second emitting lens tube 443. The emitting lens is unidirectionally pushed into the second emitting lens tube 443 until it reaches the second limiting step 4431 and is fixed with adhesive. The second emitting lens tube 443 is sleeved outside the first emitting lens tube 442. The VCSEL emitted beam is adjusted by using a three-degree-of-freedom clamp to adjust the second emitting lens tube 443 until the emitting lens is focused, and then the second emitting lens tube 443 is fixed.

[0074] Figure 6 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application. Figure 7 yes Figure 6 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module. (See diagram for details.) Figure 6 As shown, the assembly and adjustment method of the ranging module may include steps S610 to S660. It should be noted that the similarities between this embodiment and the previous embodiments are described above and will not be repeated here.

[0075] S610 fixes the VCSEL to a first preset position on the PCB and electrically connects the VCSEL to the PCB.

[0076] S620 fixes the sensor to a second preset position on the PCB and electrically connects the sensor to the PCB.

[0077] S630, fix the filter on the bracket.

[0078] As a non-restrictive example, combined with Figure 7 As shown, a receiving lens tube 641 integrally formed thereon is provided on the bracket 64, and a filter 65 is provided at the light-emitting end of the receiving lens tube 641.

[0079] S640 fixes the bracket containing the filter onto the PCB.

[0080] As a non-restrictive example, combined with Figure 7As shown, the bracket 64 is also provided with a first transmitting lens tube 642 integrally formed therewith. First, through visual alignment, the first transmitting lens tube 642 is aligned with the VCSEL 62 on the PCB 61, and the receiving lens tube 641 is aligned with the sensor 63 on the PCB 61. Then, the bracket 64 with the filter 65 is fixed on the PCB 61 by dispensing glue.

[0081] S650, the receiving lens is unidirectionally pushed into the receiving lens barrel until it reaches the first limiting step and is then fixed.

[0082] As a non-restrictive example, combined with Figure 7 The receiver Rx shown has a first limiting step 6411 inside the receiving lens barrel 641. The receiving lens is unidirectionally pushed into the receiving lens barrel until it reaches the first limiting step 6411 and then glued to fix the receiving lens.

[0083] S660 connects the second emitting lens barrel, which is equipped with an emitting lens and has threads, to the first emitting lens barrel, which also has threads. The VCSEL emitting beam is adjusted while the second emitting lens barrel is rotated through a clamp so that the diameter of the far-field spot emitted by the emitting beam through the emitting lens is smaller than a preset threshold, thereby achieving focusing between the emitting unit and the emitting lens.

[0084] In some embodiments, the second emitting lens tube is disposed independently of the support, the outer diameter of the emitting lens is adapted to the inner diameter of the second emitting lens tube, and the emitting lens is fixed inside the second emitting lens tube. The second emitting lens tube is threadedly connected to the first emitting lens tube. Under the condition of adjusting the VCSEL emitted beam, the second emitting lens tube is rotated by a clamp until the emitting lens is focused. As a non-limiting example, combined with Figure 7 The transmitting end Tx shown has a second transmitting lens tube 643 independently configured. The outer diameter of the transmitting lens matches the inner diameter of the second transmitting lens tube 643, and the transmitting lens is fixed inside the second transmitting lens tube 643. Specifically, a second limiting step 6431 is provided inside the second transmitting lens tube 643. The transmitting lens is unidirectionally pushed into the second transmitting lens tube 643 until it reaches the second limiting step 6431 and is then fixed with adhesive. The lower end of the second transmitting lens tube 643 has an external thread, and the inner wall of the first transmitting lens tube 642 has an internal thread. The second transmitting lens tube 643 is threadedly connected to the first transmitting lens tube 642. The VCSEL transmitting beam is adjusted while the second transmitting lens tube 643 is rotated through a clamp until the transmitting lens is focused.

[0085] Figure 8 This is a schematic diagram illustrating the implementation process of a ranging module assembly and adjustment method provided in another embodiment of this application. Figure 9 yes Figure 8 The illustrated embodiment provides a schematic diagram of the assembly and adjustment method for a ranging module. (See diagram for details.) Figure 8As shown, the assembly and adjustment method of the ranging module may include steps S810 to S860. It should be noted that the similarities between this embodiment and the previous embodiments are described above and will not be repeated here.

[0086] S810 fixes the VCSEL to a first preset position on the PCB and electrically connects the VCSEL to the PCB.

[0087] S820 fixes the sensor at a second preset position on the PCB and electrically connects the sensor to the PCB.

[0088] S830, fixing the filter to the bracket.

[0089] As a non-restrictive example, combined with Figure 9 As shown, a receiving lens tube 841 integrally formed thereon is provided on the bracket 84, and a filter 85 is provided at the light-emitting end of the receiving lens tube 841.

[0090] S840 fixes the bracket containing the filter onto the PCB.

[0091] As a non-restrictive example, combined with Figure 9 As shown, the bracket 84 is also provided with a first transmitting lens tube 842 integrally formed therewith. First, the first transmitting lens tube 842 is aligned with the VCSEL 82 on the PCB 81 by visual alignment, and the receiving lens tube 841 is aligned with the sensor 83 on the PCB 81. Then, the bracket 84 with the filter 85 is fixed on the PCB 81 by dispensing glue.

[0092] S850, the receiving lens is unidirectionally pushed into the receiving lens barrel until it reaches the first limiting step and is then fixed.

[0093] As a non-restrictive example, combined with Figure 9 The receiver Rx shown has a first limiting step 8411 inside the receiver barrel 841. The receiver lens is unidirectionally pushed into the receiver barrel until it reaches the first limiting step 8411 and then fixed with glue.

[0094] S860, the transmitting lens is unidirectionally pushed into the first transmitting lens tube until it reaches the second limiting step and the receiving lens is fixed.

[0095] As a non-restrictive example, combined with Figure 9As shown in the transmitter Tx, a second limiting step 8421 is provided inside the first transmitting lens barrel 842. The transmitting lens is unidirectionally pushed into the first transmitting lens barrel 842 up to the second limiting step 8421 and then fixed with adhesive. The distance between the second limiting step 8421 and the VCSEL 82 is equal to the focal length of the transmitting lens, or, in other words, the height difference between the VCSEL 82 and the second limiting step 8421 is equal to the focal length of the transmitting lens. This structural arrangement ensures that the VCSEL 82 is located at the focal point of the transmitting lens. In this embodiment, the transmitting lens, support, etc., are manufactured with high precision. The transmitting lens is directly pushed to the limiting position (same as the receiving lens), eliminating the need for VCSEL light emission adjustment, making operation simpler.

[0096] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0097] This application also provides a ranging module. It should be noted that for any aspects of the ranging module not described in detail in the embodiments, please refer to the foregoing embodiments on the assembly and adjustment method of the ranging module; these will not be repeated here.

[0098] In some embodiments, the ranging module is used in a lidar system to calculate the time-of-flight of a light signal by emitting a light signal towards a target and collecting the light signal reflected by the target, and further calculates the distance to the target based on the time-of-flight. A lidar system typically includes a rotating base and a ranging module, with the ranging module rotatably mounted on the rotating base. Figure 10 As shown, one embodiment of this application provides a lidar, which includes a light-transmitting cover 1, a rotating base 2, and a ranging module 3. The ranging module 3 is mounted on the rotating base 2, and the light-transmitting cover 1 covers the rotating base 2 and encloses the ranging module 3. Specifically, the rotating base 2 has multiple positioning holes, and the ranging module 3 has multiple positioning posts to form multiple positioning planes. During installation, the positioning planes abut against the rotating base 2, causing the positioning posts to insert into the corresponding positioning holes. The rotating base 2 rotates around its own rotation axis (vertical direction). The ranging module 3 is mounted on the rotating base 2 and rotates with it, receiving and transmitting light signals through the light-transmitting cover to achieve 360-degree scanning of the target's field of view. The light-transmitting cover 1 is fixed relative to the rotating base 2, specifically, it can be fixed to the rotating base 2 by screws, adhesive, or threaded connections.

[0099] One embodiment of this application provides a ranging module, including: a circuit board, a transmitting unit, a receiving unit, a bracket, a filter, a receiving lens, and a transmitting lens. The transmitting unit and the receiving unit are disposed on the circuit board, spaced apart and electrically connected to the circuit board. The bracket is disposed on the circuit board, and has an integrally formed receiving lens barrel and an integrally formed first transmitting lens barrel on the bracket. The first transmitting lens barrel faces the transmitting unit, and the receiving lens barrel faces the receiving unit. The filter is disposed at the light-emitting end of the receiving lens barrel, such that the receiving lens, the filter, and the receiving unit are sequentially arranged along the light transmission path. The receiving lens is fixed inside the receiving lens barrel, and a first limiting step is provided inside the receiving lens barrel. The receiving lens is fixed at the first limiting step, and the distance between the first limiting step and the receiving unit is equal to the focal length of the receiving lens. The first transmitting lens barrel is used to fix the transmitting lens and achieve focusing, so that the transmitting unit is located at the focal point of the transmitting lens. It should be noted that in some other embodiments, depending on the actual situation, the ranging module may not include a filter.

[0100] In some embodiments, the emitting lens is fixed inside a first emitting lens barrel. For example, a second limiting step is provided inside the first emitting lens barrel, and the emitting lens is fixed at the second limiting step. The distance between the second limiting step and the emitting unit is equal to the focal length of the emitting lens. As another possible implementation, under the condition of controlling the emitted beam of the emitting unit, the emitting lens is unidirectionally pushed into the first emitting lens barrel so that the diameter of the far-field light spot gradually decreases until the diameter of the far-field light spot is reduced to a preset threshold, at which point the pushing stops and the emitting lens is fixed.

[0101] In some other embodiments, the ranging module further includes a second transmitting lens barrel, with the transmitting lens fixed inside the second transmitting lens barrel. The second transmitting lens barrel is detachably sleeved with the first transmitting lens barrel and faces the transmitting unit. As one possible implementation, the threaded second transmitting lens barrel with the transmitting lens is threadedly connected to the threaded first transmitting lens barrel. Under the condition of controlling the beam emitted by the transmitting unit, the second transmitting lens barrel is rotated using a clamp to gradually reduce the diameter of the far-field beam until the diameter of the far-field beam reaches a preset threshold, at which point the clamping stops and the transmitting lens is fixed. As another possible implementation, the second transmitting lens barrel with the transmitting lens is sleeved with the first transmitting lens barrel. Under the condition of controlling the beam emitted by the transmitting unit, the second transmitting lens barrel is adjusted using a three-degree-of-freedom clamp to gradually reduce the diameter of the far-field beam until the diameter of the far-field beam reaches a preset threshold, at which point the clamping stops and the transmitting lens is fixed.

[0102] like Figures 11 to 13The image shows a ranging module provided in one embodiment of this application. For ease of description, the second transmitting lens barrel is described as independent of the support, with the transmitting lens fixed inside the second transmitting lens barrel. It should be understood that in the embodiment where the transmitting lens is fixed inside the first transmitting lens barrel, the first transmitting lens barrel is directly used as the second transmitting lens barrel, and the second transmitting lens barrel is integrally formed with the support. In this case, the structure of the second transmitting lens barrel can be... Figures 11 to 13 The embodiments will be compared with those described above, and will not be repeated here.

[0103] like Figures 11 to 13 As shown, the ranging module includes a circuit board 31, a transmitting unit 32, a receiving unit 33, a bracket 34, a second transmitting lens tube 343, a transmitting lens 37, and a receiving lens 38. The transmitting unit 32 and the receiving unit 33 are both disposed on the circuit board 31, spaced apart and electrically connected to the circuit board 31. The bracket 34 includes a bracket body 341, a receiving lens tube 342, and a first transmitting lens tube 344. The bracket body 341 is disposed on the circuit board 31, and the first transmitting lens tube 344 is disposed on the bracket body 341 and faces the transmitting unit 32; the first transmitting lens tube 344 is integrally formed with the bracket body 341. The receiving lens tube 342 is disposed on the bracket body 341 and faces the receiving unit 33; the receiving lens tube 342 is integrally formed with the bracket body 341. The transmitting lens 37 is disposed inside the second transmitting lens tube 343, and the receiving lens 38 is disposed inside the receiving lens tube 342, thereby modulating the emitted and reflected light while also making the internal structure compact.

[0104] The second transmitting lens tube 343 and the bracket 34 can be connected in a detachable manner through a snap-fit ​​structure, threaded connection structure, or other means, without specific limitations. The second transmitting lens tube 343 faces the transmitting unit 32. The arrangement of the second transmitting lens tube 343 and the receiving lens tube 342 allows the light emitted by the transmitting unit 32 to directly reach the target object, and the reflected light signal is received by the receiving unit 33. This separates the transmitting and receiving optical paths, effectively avoiding the influence of light leakage from the transmitting optical path on the receiving optical path and improving the accuracy of the ranging module.

[0105] In this embodiment, the ranging module features a detachable connection between the second transmitting lens 343 and the bracket 34, and an integrally formed receiving lens 342 and the bracket body 341. This allows for flexible assembly and disassembly of the second transmitting lens 343, enabling the replacement of different specifications of the second transmitting lens 343 according to the application scenario. This convenience reduces operating costs. Furthermore, if the lidar requires the removal of the second transmitting lens 343 due to insufficient space, excessive size, or component interference, the ranging module 3 in this embodiment can also directly remove the second transmitting lens 343 while retaining the receiving lens 342. This maximizes the separation of the transmitting and receiving optical paths, preventing light leakage from the transmitting path from affecting the receiving path and improving the accuracy of the ranging module. The ranging module structure in this embodiment is reasonably designed and highly practical.

[0106] In some embodiments, the receiving lens tube 342 and the second transmitting lens tube 343 are not at the same height. Specifically, the height of the end face of the receiving lens tube 342 from the support body 341 is higher than the height of the end face of the second transmitting lens tube 343 from the support body 341, thereby reducing stray light entering the receiving unit 33 and causing interference. Further, in some embodiments, the end face of the receiving lens tube 342 away from the support body 341 is set as an arc surface 3421, which can prevent the receiving lens tube 342 from colliding with the upper cover 1 when the rotating base 2 rotates and drives the ranging module 3. The specific design dimensions of the arc surface 3421 can be designed according to the inner arc surface of the upper cover 1.

[0107] For ease of mounting the ranging module 3 onto the rotating base 2, see below. Figures 11 to 13 As shown, in some embodiments, a mounting portion 35 is provided on both the left and right sides of the bracket body 341. The upper and lower ends of the mounting portion 35 are respectively provided with a first mounting hole 351 and a second mounting hole 352, which are connected. The first mounting hole 351 is a threaded hole. During installation, the bracket body 341 (or bracket 34) is first fitted onto the mounting post of the rotating base 2 through the second mounting hole 352. Then, a screw is screwed through the first mounting hole 351 and the mounting post, thus fixing the bracket body 341 (or bracket 34) to the rotating base 2. The first mounting hole 351 has two segments of connecting threads spaced apart along its axial direction on the hole wall to accommodate different screws.

[0108] Furthermore, the lower end of the mounting part 35 has a stepped columnar structure. A first positioning post 361 is provided on the lower side of the receiving lens tube 342, and a second positioning post 362 is provided on the lower side of the bracket body 341. Both the first positioning post 361 and the second positioning post 362 have stepped columnar structures. The lower ends of the two mounting parts 35 and the first positioning post 361 together form a positioning plane. The positioning plane is used to position the mounting plane of the ranging module 3. The mounting plane is the plane on which the ranging module 3 is located when it is installed on the rotating base 2. The positioning plane formed cooperates with the rotating base 2, thereby accurately positioning the mounting plane of the ranging module 3. This ensures the stability and accuracy of the ranging module 3 during installation, reduces installation and debugging steps, and improves installation efficiency.

[0109] Specifically, in this embodiment, the lower end of the mounting part 35 has a first surface 35a and a second surface 35b of different heights, and the first positioning post 361 has a first surface 361a and a second surface 361b of different heights. The positioning plane includes a first plane and a second plane. The first surface 35a of the lower ends of the two mounting parts 35 and the first surface 361a of the first positioning post 361 form a first plane, and the second surface 35b of the lower ends of the two mounting parts 35 and the second surface 361b of the first positioning post 361 form a second plane. The lower ends of the two mounting parts 35 and the first positioning post 361 together form a first plane and a second plane of different heights for positioning the mounting plane of the ranging module 3, so that the ranging module 3 can be installed with two different rotating bases 2, thereby improving the replaceability of the ranging module 3. In this embodiment, the rotating base 2 is installed by cooperating with the first plane.

[0110] In addition, besides cooperating with the lower end of the mounting part 35, the first positioning post 361 can also cooperate with the second positioning post 362 to position the direction of the ranging module 3. The direction of the ranging module 3 is its ranging direction, thus directly positioning the direction of the ranging module 3, improving accuracy and testing efficiency. Specifically, the center line connecting the first positioning post 361 and the second positioning post 362 is parallel to the central axis of the receiving lens tube 342. The first positioning post 361 and the second positioning post 362 can cooperate with the positioning holes on the rotating base 2. When the first positioning post 361 and the second positioning post 362 are inserted into the positioning holes, the direction of the receiving lens tube 2 can be accurately positioned, thereby positioning the direction of the ranging module 3.

[0111] In this embodiment, the first positioning post 361 can cooperate with the lower end of the mounting part 35 to position the mounting plane of the ranging module 3, and can also cooperate with the second positioning post 362 to position the direction of the ranging module 3. This can reduce the number of positioning components to a certain extent and save space.

[0112] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0113] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for assembling and adjusting a ranging module, characterized in that, include: A transmitting unit and a receiving unit are fixed on a circuit board, wherein the transmitting unit and the receiving unit are spaced apart and are both electrically connected to the circuit board. The bracket is installed on the circuit board by dispensing adhesive. The bracket is provided with an integrally formed first transmitting lens tube and a receiving lens tube with a first limiting step. The first transmitting lens tube is facing the transmitting unit and the receiving lens tube is facing the receiving unit. The receiving lens is unidirectionally pushed into the receiving lens tube until it reaches the first limiting step and is then fixed. The emission unit emits a beam, and the emission lens is unidirectionally pushed into the first emission lens barrel so that the diameter of the far field spot gradually decreases until the diameter of the far field spot is reduced to a preset threshold, at which point the pushing stops and the emission lens is fixed. Before mounting the bracket on the circuit board, the method further includes fixing a filter on the bracket, wherein the filter is disposed at the light-emitting end of the receiving lens barrel such that the receiving lens, the filter, and the receiving unit are arranged sequentially along the light transmission path.

2. The assembly and adjustment method as described in claim 1, characterized in that, Fixing the emitting lens and achieving focusing using the first emitting lens barrel includes: A second limiting step is provided inside the first emitting lens barrel, and the distance between the second limiting step and the emitting unit is equal to the focal length of the emitting lens; The emitting lens is placed at the second limiting step to achieve focusing.

3. The assembly and adjustment method as described in claim 1, characterized in that, Also includes: A second emitting lens barrel is provided, wherein the emitting lens is disposed within the second emitting lens barrel; The emission unit is controlled to emit a beam of light; The second emitting lens tube is detachably attached to the first emitting lens tube using a clamp, and the second emitting lens tube is adjusted so that the diameter of the far-field spot emitted by the emitting lens is less than a preset threshold.

4. The assembly and adjustment method as described in claim 3, characterized in that, Both the second transmitting lens tube and the first transmitting lens tube have threads; The second emitting lens tube is rotated by a clamp and adjusted so that the diameter of the far-field spot emitted by the emitting lens is less than a preset threshold.

5. A ranging module, characterized in that, include: Circuit board; The transmitting unit and the receiving unit are disposed on the circuit board, and the transmitting unit and the receiving unit are disposed at intervals and are both electrically connected to the circuit board. A bracket is attached to the circuit board by dispensing adhesive. The bracket is provided with an integrally formed receiving lens and a first transmitting lens. The first transmitting lens faces the transmitting unit and the receiving lens faces the receiving unit. A receiving lens is fixed inside the receiving lens barrel; a first limiting step is provided inside the receiving lens barrel, and the receiving lens is located at the first limiting step. The emitting lens controls the emitting unit to emit a beam. The emitting lens is pushed into the first emitting lens barrel in one direction so that the diameter of the far-field light spot gradually decreases until the diameter of the far-field light spot is reduced to a preset threshold. Then the pushing stops and the emitting lens is fixed so that the emitting unit is located at the focal point of the emitting lens. Before mounting the bracket on the circuit board, the method further includes fixing a filter on the bracket, wherein the filter is disposed at the light-emitting end of the receiving lens barrel such that the receiving lens, the filter, and the receiving unit are arranged sequentially along the light transmission path.

6. The ranging module as described in claim 5, characterized in that, A second limiting step is provided inside the first emitting lens barrel, and the distance between the second limiting step and the emitting unit is equal to the focal length of the emitting lens; The emitting lens is positioned at the second limiting step.

7. The ranging module as described in claim 5, characterized in that, The ranging module also includes a second transmitting lens tube, and the transmitting lens is placed inside the second transmitting lens tube; The second emitting lens barrel is detachably sleeved with the first emitting lens barrel so that the emitting unit is located at the focal point of the emitting lens.

8. The ranging module as described in claim 7, characterized in that, The second transmitting lens tube is threadedly connected to the first transmitting lens tube.

9. The ranging module as described in claim 5 or 6, characterized in that, The receiving lens tube is at a different height than the first transmitting lens tube.

10. The ranging module as described in claim 8, characterized in that, The receiving lens tube and the second transmitting lens tube are not at the same height.

11. The ranging module as described in claim 5 or 6, characterized in that, The end face of the receiving lens barrel away from the circuit board is an arc surface.

12. The ranging module as described in claim 5, characterized in that, The bracket has a mounting part on both the left and right sides. The upper and lower ends of the mounting part are respectively provided with a first mounting hole and a second mounting hole. The first mounting hole and the second mounting hole are connected. The first mounting hole is a threaded hole.

13. The ranging module according to claim 12, characterized in that: The lower end of the mounting part has a stepped columnar structure, a first positioning post is provided on the lower side of the receiving lens tube, and a second positioning post is provided on the lower side of the bracket. Both the first positioning post and the second positioning post have stepped columnar structures. The lower ends of the two mounting parts and the first positioning post together form a positioning plane, which is used to position the mounting plane of the ranging module. The first positioning post and the second positioning post cooperate to position the orientation of the ranging module.

14. The ranging module according to claim 13, characterized in that: The positioning plane includes a first plane and a second plane. The first surface of the lower end of the two mounting parts forms the first plane with the first surface of the first positioning post, and the second surface of the lower end of the two mounting parts forms the second plane with the second surface of the first positioning post.

15. The ranging module according to claim 14, characterized in that: The line connecting the centers of the first positioning post and the second positioning post is parallel to the central axis of the receiving lens barrel.

16. The ranging module according to claim 12, characterized in that... ； The first mounting hole has two connecting threads spaced apart on its axial wall.

17. The ranging module as described in claim 5 or 6, characterized in that, It also includes a filter, which is disposed at the light-emitting end of the receiving lens barrel such that the receiving lens, the filter, and the receiving unit are arranged sequentially along the light transmission path.

18. A lidar, characterized in that, include: Rotating base; And a ranging module as described in any one of claims 5 to 17, the ranging module being mounted on the rotating base and rotating with the rotating base to achieve a 360-degree scan of the target field of view.

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