Coupling method of dToF lidar ranging core

Abstract

The present application discloses a coupling method for a dToF laser radar ranging movement, comprising: providing a coupling platform and a ranging movement to be coupled, and placing the ranging movement on the coupling platform, wherein the ranging movement comprises a PCB board and a lens holder, wherein a light detection chip is fixedly provided on the PCB board, a transmitting end laser is fixed on the lens holder, and a movable transmitting end collimating lens and a receiving end receiving lens are provided on the lens holder, and the PCB board can be moved relative to the transmitting end laser to adjust the position of the light detection chip; supplying power to the PCB board to illuminate the transmitting end laser, and establishing a communication connection between the PCB board or the light detection chip and an electronic device; adjusting the positions of the transmitting end collimating lens, the light detection chip, and the receiving end receiving lens by placing a reflective object in front of the ranging movement and according to data of the light detection chip displayed by debugging software; fixing the positions of the transmitting end collimating lens and the receiving end receiving lens on the lens holder, and fixing the relative positions of the PCB board and the lens holder, and removing the PCB board from the coupling platform as a whole.

Description

Technical Field

[0001] The present application relates to the field of dToF laser radar technology, and in particular to a coupling method for a dToF laser radar ranging core. Background Art

[0002] The dToF LiDAR for sweepers primarily consists of a laser, a single-photon avalanche detector diode (SPAD) (light detection chip), functional circuitry, a collimating lens on the transmitter side, a receiving lens on the receiver side, and a lens mounting bracket. dToF LiDAR uses a laser to emit light, which is reflected by an object and received by the SPAD. The chip then processes the light to determine the distance, thus achieving distance measurement.

[0003] Since the dToF laser radar structure of the sweeper is very small and the size of the SPAD photosensitive surface is sub-millimeter, the optical path coupling requirements of the transmitting end laser-transmitting end collimating lens-receiving end receiving lens-SPAD are very high. During the assembly process, the relative positions of the laser, SPAD, transmitting end collimating lens and receiving end receiving lens directly affect the ranging capability and ranging effect of the laser radar.

[0004] In the existing assembly process, a step is processed in the lens holder as a lens limiter, the laser is pre-installed on the lens holder, the SPAD is pre-mounted on the functional circuit PCB board, and the lens holder and the functional circuit PCB board are mechanically connected through screw holes. During the entire process, the relative positions of the laser-transmitting end collimating lens-receiving end receiving lens-SPAD cannot be adjusted. If there is a difference in the position of the devices or lenses, or there is a deviation in the processing accuracy, it will directly lead to the inability of the lidar to measure distance or poor ranging capability.

[0005] Based on this background, it is necessary to provide a coupling method for a dToF lidar ranging movement, which can adjust the relative positions of the transmitting laser, the light detection chip, the transmitting collimating mirror, and the receiving lens at the receiving end to ensure the coupling effect. Summary of the Invention

[0006] The purpose of this application is to provide a coupling method for a dToF lidar ranging movement, which can adjust the relative positions of the transmitting end laser, the light detection chip, the transmitting end collimating mirror and the receiving end receiving lens to ensure the coupling effect.

[0007] To achieve the above objectives, the present application provides a coupling method for a dToF laser radar ranging core, comprising:

[0008] A coupling platform and a rangefinder core to be coupled are provided, and the rangefinder core is placed on the coupling platform. The rangefinder core includes a PCB board and a lens holder located in front of the PCB board. A light detection chip is fixed on the PCB board. A transmitting end laser is fixed on the lens holder and a movable transmitting end collimating lens and a receiving end receiving lens are placed. The pins of the transmitting end laser are welded to the PCB board. The PCB board can be moved relative to the transmitting end laser to adjust the position of the light detection chip.

[0009] Powering the PCB to light the transmitting end laser, establishing a communication connection between the PCB or the light detection chip and an electronic device so that the electronic device can receive data from the light detection chip, wherein the electronic device is provided with debugging software capable of displaying the data from the light detection chip in real time;

[0010] The optical path coupling is achieved by placing a reflective object in front of the ranging core and adjusting the positions of the transmitting end collimating lens, the light detection chip and the receiving end receiving lens according to the data of the light detection chip displayed by the debugging software;

[0011] After completing the optical path coupling, the positions of the transmitting end collimating lens and the receiving end receiving lens are fixed on the lens fixing frame, and the relative positions of the PCB board and the lens fixing frame are fixed and the whole is taken out from the coupling platform.

[0012] Optionally, the step of placing a reflective object in front of the ranging core and adjusting the positions of the transmitting end collimating lens, the light detection chip, and the receiving end receiving lens according to the data of the light detection chip displayed by the debugging software to achieve optical path coupling comprises the following steps:

[0013] Adjusting the position of the transmitting end collimating lens on the lens fixing frame so that the light spot emitted by the transmitting end laser converges into a thin light spot and falls on the reflecting object placed at the first position in front of the ranging movement;

[0014] adjusting the position of the PCB board according to the data of the light detection chip displayed by the debugging software so that the light detection chip receives the light spot reflected by the reflective object;

[0015] Move the reflecting object forward to a second position away from the ranging movement, and adjust the position of the receiving lens of the receiving end on the lens fixing frame according to the data of the light detection chip displayed by the debugging software, so that the photosensitive surface of the light detection chip is located at the focus of the receiving lens of the receiving end.

[0016] Optionally, when the reflective object is moved forward to a second position away from the ranging core, the position of the light detection chip is adjusted by adjusting the position of the PCB board.

[0017] Optionally, after the adjustment of the reflective object to the second position is completed, the method further includes:

[0018] The reflecting object is moved to a third position located in front of the second position, and it is determined whether the photosensitive surface of the light detection chip is located at the focus of the receiving lens of the receiving end when the reflecting object is at the third position.

[0019] Optionally, before position adjustment, a zero gap is maintained between the PCB board and the lens fixing frame.

[0020] Optionally, a through hole for a pin of the emitting end laser to pass through is provided on the PCB board, and a size of the through hole is larger than a cross-sectional size of the pin to allow the pin to move in the through hole.

[0021] Optionally, the pins of the transmitting-end laser are electrically connected to the PCB board via a removable conductor.

[0022] Optionally, the removable conductor is a lead or a probe.

[0023] Optionally, the lens fixing frame includes a transmitting end chamber and a receiving end chamber, the transmitting end collimating lens is arranged in the transmitting end chamber, and the receiving end receiving lens is arranged in the receiving end chamber;

[0024] The lens fixing frame is provided with corresponding adjustment grooves communicating with the transmitting end chamber and the receiving end chamber respectively;

[0025] The coupling platform includes a lens adjustment device and a lens clamping structure, wherein the lens clamping structure is connected to the output end of the lens adjustment device, and the clamping portion of the lens clamping structure extends into the corresponding adjustment slot to clamp the transmitting end collimating lens or the receiving end receiving lens; the lens adjustment device drives the lens clamping structure to adjust the position of the transmitting end collimating lens in the transmitting end chamber or the position of the receiving end receiving lens in the receiving end chamber.

[0026] Optionally, the adjustment slot allows the clamping portion to drive the transmitting end collimating lens or the receiving end receiving lens to move forward and backward or rotate.

[0027] Optionally, the lens fixing frame is provided with a positioning hole;

[0028] The coupling platform includes a fixed base, the base is provided with a positioning pin, and the positioning pin is provided with a screw hole;

[0029] The lens fixing frame is positioned on the base through the adaptive connection between the positioning hole and the positioning pin and is fastened by a screw threadedly connected to the screw hole.

[0030] Optionally, the coupling platform includes a PCB board adjustment device and a PCB board bearing structure, the PCB board bearing structure is connected to the output end of the PCB board adjustment device, the PCB board is fixed to the PCB board bearing structure, and the position of the PCB board is adjusted by the PCB board adjustment device.

[0031] The collimating lens at the transmitting end and the receiving lens at the receiving end of the rangefinder movement to be coupled in the present application can be movably placed in the placement position of the lens fixing frame, the laser at the transmitting end is fixed on the lens fixing frame, the PCB board can be moved relative to the laser at the transmitting end, the PCB board is coupled when powered on and the data of the light detection chip can be displayed in real time by the debugging software of the electronic device, and then the optical path coupling can be achieved by setting a reflective object in front of the rangefinder movement and adjusting the positions of the collimating lens at the transmitting end, the light detection chip and the receiving lens at the receiving end according to the data of the light detection chip displayed by the debugging software. After the optical path coupling is completed, the positions of the collimating lens at the transmitting end and the receiving lens at the receiving end on the lens fixing frame and the relative positions of the PCB board and the lens fixing frame are fixed, and the PCB board and the lens fixing frame are removed as a whole from the coupling platform. The coupling method of the present application can couple according to the actual optical path and the data of the light detection chip displayed in real time, is easy to adjust, and is conducive to ensuring the coupling effect of the rangefinder movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a schematic diagram of the three-dimensional structure of the ranging core of the dToF laser radar embodiment of the present application.

[0033] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure after the PCB board is hidden.

[0034] Figure 3 yes Figure 1 Schematic diagram of the decomposition structure.

[0035] Figure 4 It is a schematic diagram of the three-dimensional structure of the ranging core placed on the coupling platform according to the embodiment of the present application.

[0036] Figure 5 yes Figure 4 Schematic diagram of the three-dimensional structure after hiding part of the structure.

[0037] Figure 6 yes Figure 5 Schematic diagram of the exploded structure of the lens fixing frame and the base.

[0038] Figure 7 yes Figure 4 Schematic diagram of the three-dimensional structure of the middle lens clamping structure.

[0039] Figure 8 yes Figure 5 Schematic diagram of the three-dimensional structure of the PCB board and PCB supporting structure. DETAILED DESCRIPTION

[0040] In order to explain the technical content and structural features of the present application in detail, the following further describes the embodiments in conjunction with the accompanying drawings.

[0041] Figures 1 to 3 Disclosed is a ranging mechanism for a dToF laser radar. The ranging mechanism includes a PCB board 10, a lens holder 20 located in front of the PCB board 10, and a transmitting laser 30 located between the PCB board 10 and the lens holder 20. A light detection chip 11 is fixed to the PCB board 10, and pins 31 of the transmitting laser 30 are soldered to the PCB board 10. A transmitting collimating lens 40 and a receiving lens 50 are mounted on the lens holder 20. Laser light emitted by the transmitting laser 30 passes through the transmitting collimating lens 40 and converges on an object. Laser light is then reflected by the object to the receiving lens 50 and converges on the light detection chip 11. After processing and calculation, the distance is obtained, thereby achieving a ranging function.

[0042] Specifically, the light detection chip 11 is a SPAD chip.

[0043] In order to utilize the coupling method of the present application for coupling, the rangefinder core to be coupled has not yet completed final assembly. The coupling method of the present application fixes the transmitting laser 30 on the lens holder 20, allowing the PCB board 10 to move relative to the transmitting laser 30 to adjust the position of the light detection chip 11 relative to the transmitting laser 30, and allowing the transmitting collimating lens 40 and the receiving lens 50 to be movably arranged in the placement position of the lens holder 20 to adjust the position of the transmitting collimating lens 40 and the receiving lens 50. Specifically, the movement of the PCB board 10 relative to the transmitting laser 30 may include up and down movement, left and right movement, and may also include changes in pitch angle. Of course, the movement of the PCB board 10 relative to the transmitting laser 30 is not limited to the above-mentioned methods.

[0044] Specifically, the lens fixing frame 20 includes a transmitting end chamber 21 , and the transmitting end laser 30 is disposed at the rear end of the transmitting end chamber 21 .

[0045] Specifically, the PCB 10 is provided with a through hole 12 through which the pin 31 of the transmitting laser 30 passes. In the embodiment of the present application, to enable the PCB 10 to move relative to the transmitting laser 30, the size of the through hole 12 is larger than the cross-sectional size of the pin 31 to allow the pin 31 to move within the through hole 12, thereby facilitating a certain degree of freedom for the transmitting laser 30 relative to the PCB 10. In addition, to ensure that the transmitting laser 30 remains powered when the PCB 10 moves relative to the transmitting laser 30, in the embodiment of the present application, the pin 31 of the transmitting laser 30 is electrically connected to the PCB 10 via a lead (e.g., soldered). After coupling is completed, the lead is removed, and the pin 31 is directly soldered to the PCB 10. Of course, the pin 31 is not limited to being electrically connected to the PCB 10 via a lead; it can also be connected via other conductors, as long as the conductor can be removed after coupling. For example, the pin 31 can be electrically connected to the PCB 10 via a probe, and the probe is removed after coupling is completed, and the pin 31 is directly soldered to the PCB 10.

[0046] Of course, in order to enable the PCB board 10 to move relative to the emitting laser 30, the present application is not limited to the above technical means.

[0047] To utilize the coupling method of this application, a coupling platform is provided to place the rangefinder core on the coupling platform for coupling. This application is not limited to a specific form of the coupling platform; as long as it can secure the lens holder 20 and PCB 10, respectively, and adjust the position of PCB 10 relative to the transmitting laser 30, it will suffice.

[0048] The following combination Figures 1 to 8 The present application is further described.

[0049] Based on the above configuration, the coupling method of the present application further includes:

[0050] Power is supplied to the PCB board 10 to illuminate the transmitting end laser 30, and a communication connection is established between the PCB board 10 or the light detection chip 11 and an electronic device (such as a computer) so that the electronic device can receive data from the light detection chip 11. The electronic device is provided with debugging software that can display the data of the light detection chip 11 in real time. Specifically, the electronic device can simultaneously power the PCB board 10 and receive data from the light detection chip 11. Of course, this is not limited to this, and the PCB board 10 can also be powered by other devices. The light detection chip 11 can directly establish a communication connection with the electronic device, or it can establish a communication connection with the electronic device through the PCB board 10. This application does not limit this. When the communication connection is established through the PCB board 10, the PCB board 10 can simply forward the data, or it can further use its processing unit to process the data before outputting it to the electronic device.

[0051] Optical path coupling is achieved by placing a reflective object (such as a whiteboard) in front of the ranging movement and adjusting the positions of the transmitting end collimating lens 40, the light detection chip 11 and the receiving end receiving lens 50 according to the data of the light detection chip 11 displayed by the debugging software.

[0052] After optical path coupling is completed, the positions of the transmitting end collimating lens 40 and the receiving end receiving lens 50 on the lens fixing frame 20 are fixed, and the relative positions of the PCB board 10 and the lens fixing frame 20 are fixed and the whole is removed from the coupling platform.

[0053] The collimating lens 40 at the transmitting end and the receiving lens 50 at the receiving end of the rangefinder movement to be coupled in the present application can be movably placed in the placement position of the lens holder 20, the laser 30 at the transmitting end is fixed on the lens holder 20, and the PCB board 10 can be moved relative to the laser 30 at the transmitting end. The PCB board 10 is coupled when powered, and the data of the light detection chip 11 can be displayed in real time by the debugging software of the electronic device. Then, the optical path coupling can be achieved by placing a reflective object in front of the rangefinder movement and adjusting the positions of the collimating lens 40 at the transmitting end, the light detection chip 11, and the receiving lens 50 at the receiving end according to the data of the light detection chip 11 displayed by the debugging software. After the optical path coupling is completed, the positions of the collimating lens 40 at the transmitting end and the receiving lens 50 at the receiving end are fixed on the lens holder 20, and the relative positions of the PCB board 10 and the lens holder 20 are fixed, and the PCB board 10 and the lens holder 20 are removed from the coupling platform. The coupling method of the present application can couple according to the actual optical path and the data of the light detection chip 11 displayed in real time, which is convenient for adjustment and helps to ensure the coupling effect of the rangefinder movement.

[0054] In some embodiments, optical path coupling is achieved by placing a reflective object in front of the ranging core and adjusting the positions of the transmitting end collimating lens 40, the light detection chip 11, and the receiving end receiving lens 50 according to the data of the light detection chip 11 displayed by the debugging software, including:

[0055] Adjust the position of the transmitter collimator lens 40 on the lens holder 20 so that the light spot emitted by the transmitter laser 30 converges into a thin spot and falls on the reflective object placed in the first position in front of the rangefinder movement. After adjustment, the transmitter collimator lens 40 can be kept in place. The position of the transmitter collimator lens 40 is adjusted by moving it back and forth. If necessary, the transmitter collimator lens 40 can be rotated.

[0056] The position of the PCB board 10 is adjusted based on the data from the light detection chip 11 displayed by the debugging software (the lens holder 20 remains stationary) so that the light detection chip 11 receives the light spot reflected by the reflective object, thereby adjusting the position of the light detection chip 11. Specifically, to facilitate adjustment of the position of the light detection chip 11, the first position is set relatively close to the ranging movement, for example, 20 cm-30 mm in front of the ranging movement. Specifically, adjustment of the position of the PCB board 10 mainly includes adjustment of the vertical, horizontal, and pitch angles. Specifically, for the SPAD chip, it calculates the distance calculated by each laser pulse emission and returns by histogram statistics. After the statistics are completed, multiple histograms are generated. The histogram with the most data is selected and output as the ranging value. The ranging values ​​are packaged and transmitted to the electronic device via communication. The debugging software displays a ranging curve based on the received data. The ranging curve is the distance data updated in real time, with time on the horizontal axis and distance on the vertical axis. When the reflective object is in the first position, if the ranging curve displayed by the debugging software shows a stable straight line, it means that the SPAD chip has received the light spot reflected by the reflective object.

[0057] Move the reflecting object forward to the second position (focusing position) away from the ranging movement, and adjust the position of the receiving end receiving lens 50 on the lens fixing frame 20 according to the data of the light detection chip 11 displayed by the debugging software, so that the photosensitive surface of the light detection chip 11 is located at the focus of the receiving end receiving lens 50. The position of the receiving end receiving lens 50 is adjusted by moving it back and forth. When necessary, the receiving end receiving lens 50 can be rotated. In a specific example, the second position is about 5 meters in front of the ranging movement. Specifically, for the SPAD chip, when the reflected light spot converges on its single channel, its photosensitive surface is located at the focus of the receiving end receiving lens 50. This phenomenon can be seen from the data read by the electronic device. The SPAD chip has multiple channels. When the data of only one channel is flat and the data of other channels fluctuate greatly, it means that the light spot has been focused on a single channel. If there are other channels with stable data, the position of the receiving end receiving lens 50 can be further adjusted. Specifically, when the reflective object is moved forward to a second position away from the ranging movement, it may be found that the position of the light detection chip 11 still has a slight deviation. In this case, the position of the light detection chip 11 can be further adjusted by adjusting the position of the PCB board 10. Adjusting the position of the PCB board 10 can include adjusting the up and down, left and right, and pitch angles.

[0058] It should be noted that the data of the light detection chip 11 displayed by the debugging software is not limited to a certain form, as long as it is based on the data output by the light detection chip 11 and the accurate position of the light detection chip 11 and the receiving end receiving lens 50 can be determined based on the displayed data.

[0059] In the above adjustment method, the collimating lens 40 at the transmitting end and the receiving lens 50 at the receiving end are adjusted independently. After the collimating lens 40 at the transmitting end is adjusted, the receiving lens 50 at the receiving end is adjusted, which can avoid the uncertainty of the adjustment process caused by simultaneous adjustment.

[0060] In some embodiments, after the reflective object is adjusted to the second position, the process further includes moving the reflective object to a third position forward of the second position to determine whether the photosensitive surface of the light detection chip 11 is located at the focal point of the receiving lens 50 at the receiving end when the reflective object is in the third position, thereby verifying the coupling effect. In a specific example, the third position may be 8-10 meters forward of the rangefinder movement. It is understood that the reflective object can also be moved to other positions for verification.

[0061] In some embodiments, before position adjustment, the PCB board 10 and the lens fixing frame 20 are kept at zero gap. Of course, this is not limited to this.

[0062] In some embodiments, after optical coupling is completed, UV adhesive can be used to secure the transmitter collimating lens 40 and the receiver lens 50 to the lens holder 20. UV adhesive can also be used to secure the relative positions of the PCB 10 and the lens holder 20. Specifically, a circle of UV adhesive can be reinforced around the lens holder 20 and the PCB 10.

[0063] Please combine Figure 1 、 Figure 4 、 Figure 5 and Figure 7 In some embodiments, the lens fixing frame 20 includes a transmitting end chamber 21 and a receiving end chamber 22, the transmitting end collimating lens 40 is arranged in the transmitting end chamber 21, and the receiving end receiving lens 50 is arranged in the receiving end chamber 22; the lens fixing frame 20 is respectively provided with corresponding communicating adjustment grooves 23 for the transmitting end chamber 21 and the receiving end chamber 22.

[0064] The coupling platform includes a lens adjustment device 60 and a lens clamping structure 61. The lens clamping structure 61 is connected to the output end of the lens adjustment device 60. The clamping portion 611 of the lens clamping structure 61 extends into the corresponding adjustment slot 23 to clamp the transmitting collimating lens 40 or the receiving lens 50. By driving the lens clamping structure 61 by the lens adjustment device 60, the position of the transmitting collimating lens 40 in the transmitting chamber 21 or the position of the receiving lens 50 in the receiving chamber 22 can be adjusted. The expression "or" here means that there can be two lens clamping structures 61, each with a clamping portion 611 extending into different adjustment slots 23 to clamp the transmitting collimating lens 40 and the receiving lens 50, respectively, or there can be a single lens clamping structure 61, with a clamping portion 611 extending into different adjustment slots 23 as needed to clamp the transmitting collimating lens 40 or the receiving lens 50. In a specific example, the lens clamping can be removed after the lens is fixed with UV glue or the like to ensure that the lens is in the adjusted position.

[0065] Specifically, the adjustment slot 23 allows the clamping portion 611 to drive the transmitting end collimating lens 40 or the receiving end receiving lens 50 to move forward and backward or rotate (of course, it is not limited to this), and then under the drive of the lens adjustment device 60, the lens clamping structure 61 can drive the corresponding lens to adjust its position in the forward and backward directions and the rotational direction (of course, it is not limited to this).

[0066] Specifically, the number of the lens clamping structures 61 is two, and the number of the lens adjusting devices 60 is also two, which respectively drive the corresponding lens clamping structures 61, thereby facilitating rapid operation.

[0067] In a specific example, the lens adjustment device 60 is a six-axis adjustment seat, an output end of which is connected to a cantilever 62 , and the cantilever 62 is fixedly connected to the lens clamping structure 61 so as to drive the lens clamping structure 61 through the cantilever 62 .

[0068] In a specific example, the lens clamping structure 61 includes a first clamping arm 612 and a second clamping arm 613, which are hingedly connected by a rotating shaft 614 to form a scissors-like structure. A torsion spring 615 is provided between the two clamping arms 612 and 613. Clamping portions 611 are provided at opposite ends of the first clamping arm 612 and the second clamping arm 613. In a free state, under the action of the torsion spring 615, the two clamping portions 611 extend into the adjustment slots 23 on opposite sides to clamp the corresponding lenses. To release the clamping of the lenses, the other ends of the first clamping arm 612 and the second clamping arm 613 are pressed. Of course, this is only a specific example of the lens clamping structure 61, and the lens clamping structure 61 can take various possible forms.

[0069] Please combine Figure 4 、 Figure 5 and Figure 8 In some embodiments, the coupling platform includes a PCB board adjustment device 70 and a PCB board supporting structure 80. The PCB board supporting structure 80 is connected to the output end of the PCB board adjustment device 70, and the PCB board 10 is fixed to the PCB board supporting structure 80. The position of the PCB board 10 can be adjusted by driving the PCB board adjustment device 70. Specifically, adjustments can be made in the up and down directions, left and right directions, and pitch angles according to specific circumstances.

[0070] Specifically, the PCB support structure 80 includes a frame 81 and a cover 82. The frame 81 is provided with a retaining groove 811, into which the PCB 10 is placed. The cover 82 is mounted on the edge of the frame 81 via a positioning post. The retaining pins can be used to prevent the PCB 10 from moving or falling out. Of course, this is only a specific example of the PCB support structure 80 and is not intended to be limiting.

[0071] In a specific example, the PCB board adjustment device 70 is a six-axis adjustment seat, whose output end is connected to a connecting frame 71, and the PCB board supporting structure 80 is connected to the connecting frame 71, so that the PCB board supporting structure 80 can be adjusted in position under the drive of the PCB board adjustment device 70.

[0072] Please combine Figures 4 to 6 In some embodiments, the lens holder 20 is provided with a positioning hole 25. The coupling platform includes a fixed base 90, on which a positioning pin 901 is provided, and the positioning pin 901 is provided with a screw hole 902. The lens holder 20 is positioned on the base 90 through the adaptive connection between the positioning hole 25 and the positioning pin 901 and is fastened by a screw threaded into the screw hole 902, thereby securing the lens holder 20. It should be understood that the securing method of the lens holder 20 in this application is not limited to this method; any method can be used as long as the purpose of securing the lens holder 20 is achieved.

[0073] Specifically, the coupling platform includes a bracket 91 , and the base 90 is fixed on the bracket 91 , for example, by screws.

[0074] In a specific example, the bracket 91 includes a base plate 911 and a vertical plate 912 fixed on the base plate 911 , the base 90 is fixed to the top of the vertical plate 912 by screws, and the lens adjustment device 60 and the PCB board adjustment device 70 are fixed on the base plate 911 .

[0075] What is disclosed above is only a preferred example of the present application and cannot be used to limit the scope of the rights of the present application. Therefore, equivalent changes made in accordance with the claims of the present application are all within the scope covered by the present application. It is understandable that the three adjustable positions mentioned in the present application: the transmitting end collimating lens 40, the receiving end receiving lens 50, and the PCB board 10, do not necessarily need to be adjusted according to actual needs, and only one or two of them may need to be adjusted. For example, if the processing accuracy of the lens fixing frame 20 is relatively high, the transmitting end collimating lens 40 can be directly assembled to the transmitting end chamber 21 without adjustment; for example, if the processing and assembly accuracy of the lens fixing frame 20 and the PCB board 10 are relatively high, the PCB board 10 can be directly assembled to the lens fixing frame 20 without adjusting the PCB board 10.

Claims

1. A coupling method for a dToF laser radar ranging core, characterized in that: include: A coupling platform and a rangefinder core to be coupled are provided, and the rangefinder core is placed on the coupling platform. The rangefinder core includes a PCB board and a lens holder located in front of the PCB board. A light detection chip is fixed on the PCB board. A transmitting end laser is fixed on the lens holder and a movable transmitting end collimating lens and a receiving end receiving lens are placed. The pins of the transmitting end laser are welded to the PCB board. The PCB board can be moved relative to the transmitting end laser to adjust the position of the light detection chip. Powering the PCB to light the transmitting end laser, establishing a communication connection between the PCB or the light detection chip and an electronic device so that the electronic device can receive data from the light detection chip, wherein the electronic device is provided with debugging software capable of displaying the data from the light detection chip in real time; The optical path coupling is achieved by placing a reflective object in front of the ranging core and adjusting the positions of the transmitting end collimating lens, the light detection chip and the receiving end receiving lens according to the data of the light detection chip displayed by the debugging software; After completing the optical path coupling, fixing the positions of the transmitting end collimating lens and the receiving end receiving lens on the lens fixing frame, and fixing the relative positions of the PCB board and the lens fixing frame, and removing the PCB board from the coupling platform as a whole; The method of achieving optical path coupling by placing a reflective object in front of the ranging core and adjusting the positions of the transmitting end collimating lens, the light detection chip, and the receiving end receiving lens according to the data of the light detection chip displayed by the debugging software includes the following steps: Adjusting the position of the transmitting end collimating lens on the lens fixing frame so that the light spot emitted by the transmitting end laser converges into a thin light spot and falls on the reflecting object placed at the first position in front of the ranging movement; adjusting the position of the PCB board according to the data of the light detection chip displayed by the debugging software so that the light detection chip receives the light spot reflected by the reflective object; Move the reflecting object forward to a second position away from the ranging movement, and adjust the position of the receiving lens of the receiving end on the lens fixing frame according to the data of the light detection chip displayed by the debugging software, so that the photosensitive surface of the light detection chip is located at the focus of the receiving lens of the receiving end; When the reflecting object is moved forward to a second position away from the ranging core, the position of the light detection chip is adjusted by adjusting the position of the PCB board.

2. The coupling method according to claim 1, wherein: When the adjustment of the reflective object to the second position is completed, the method further includes: The reflecting object is moved to a third position located in front of the second position, and it is determined whether the photosensitive surface of the light detection chip is located at the focus of the receiving lens of the receiving end when the reflecting object is at the third position.

3. The coupling method according to claim 1, wherein: Before position adjustment, the PCB board and the lens fixing frame are kept at zero clearance.

4. The coupling method according to claim 1, wherein: The PCB board is provided with a through hole for the pin of the emitting end laser to pass through, and the size of the through hole is larger than the cross-sectional size of the pin to allow the pin to move in the through hole.

5. The coupling method according to claim 1 or 4, characterized in that: The pins of the transmitting end laser are electrically connected to the PCB board through a removable conductor.

6. The coupling method according to claim 5, wherein: The removable conductor is a lead or a probe.

7. The coupling method according to claim 1, wherein: The lens fixing frame includes a transmitting end chamber and a receiving end chamber, the transmitting end collimating lens is arranged in the transmitting end chamber, and the receiving end receiving lens is arranged in the receiving end chamber; The lens fixing frame is provided with corresponding communication adjustment grooves for the transmitting end chamber and the receiving end chamber respectively; The coupling platform includes a lens adjustment device and a lens clamping structure, wherein the lens clamping structure is connected to the output end of the lens adjustment device, and the clamping portion of the lens clamping structure extends into the corresponding adjustment slot to clamp the transmitting end collimating lens or the receiving end receiving lens; the lens adjustment device drives the lens clamping structure to adjust the position of the transmitting end collimating lens in the transmitting end chamber or the position of the receiving end receiving lens in the receiving end chamber.

8. The coupling method according to claim 7, wherein: The adjustment slot allows the clamping portion to drive the transmitting end collimating lens or the receiving end receiving lens to move forward and backward or rotate.

9. The coupling method according to claim 1, wherein: The lens fixing frame is provided with a positioning hole; The coupling platform includes a fixed base, the base is provided with a positioning pin, and the positioning pin is provided with a screw hole; The lens fixing frame is positioned on the base through the adaptive connection between the positioning hole and the positioning pin and is fastened by a screw threadedly connected to the screw hole.

10. The coupling method according to claim 1, wherein: The coupling platform includes a PCB board adjustment device and a PCB board bearing structure. The PCB board bearing structure is connected to the output end of the PCB board adjustment device. The PCB board is fixed to the PCB board bearing structure. The position of the PCB board is adjusted by the PCB board adjustment device.

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