Code disc testing apparatus, system and method

Abstract

The application discloses a code disc testing device, system and method for testing a ranging module of a dToF laser radar. The code disc testing device comprises a first support, a second support and a signal transmission device. The second support is fixedly connected to a ranging core. The second support is provided with a mounting portion. The signal transmission device comprises a rotating body and a fixed body. The rotating body is fixedly installed on the mounting portion in a circumferential direction. The rotating body is provided with a first wire rotating with the rotating body. The fixed body is fixed to the first support. The fixed body is provided with a second wire. The first wire is signal-connected to the second wire. The first wire is connected to a rotating PCB or a photoelectric sensor. The rotating PCB transmits an electric signal from the photoelectric sensor to the first wire in real time or the photoelectric sensor transmits an electric signal generated by the photoelectric sensor to the first wire in real time. The second wire is connected to an external waveform display to transmit the electric signal transmitted by the first wire to the external waveform display to be displayed in a waveform mode in real time.

Description

Technical Field

[0001] This application relates to the field of code disk testing technology, and in particular to a code disk testing device, system and method. Background Technology

[0002] The ranging module of the dToF laser radar for the sweeping robot consists of a ranging core, a rotating mechanism, an encoder, and a housing. The rotating mechanism includes a rotating PCB board with a photoelectric sensor. The encoder and photoelectric sensor serve as the angle recognition part, providing angle recognition during the rotation process.

[0003] The code disk is circular in shape, and for example, it has 23 white / black combinations. Among them, 22 white / black combinations have an angle of 15° and a white / black ratio of 1:1, and 1 white / black combination has an angle of 30° and a white / black ratio of 1:3. The photoelectric sensor detects the white / black and generates a series of electrical signal waveforms. By setting a threshold, it determines the white and black sides and counts them to identify the angle during the rotation. Each time a white / black ratio of 1:3 is detected, it is determined that the photoelectric sensor has rotated one revolution.

[0004] During actual rotation, the white / black ratio (also known as duty cycle) of the code disk greatly affects the electrical signal recognized by the photoelectric sensor. In the past, it was impossible to read the electrical signal generated by the photoelectric sensor in real time. Usually, the data transmitted by the photoelectric sensor to the rotating PCB board was used for judgment. This process is complicated and requires further analysis and processing of the data. It is not easy to find the cause of the angle recognition problem, which is not conducive to providing a basis for the optimization of the code disk structure.

[0005] Therefore, it is necessary to provide a code disk testing device and method that facilitates real-time reading of the electrical signals of the photoelectric sensor, making it easy to identify the causes of angle recognition problems, so as to provide a basis for optimizing the code disk structure. Summary of the Invention

[0006] The purpose of this application is to provide a code disk testing device that facilitates real-time reading of the electrical signals of photoelectric sensors, making it easier to identify the causes of angle recognition problems, thereby providing a basis for optimizing the code disk structure.

[0007] Another objective of this application is to provide a code disk testing system that facilitates real-time reading of the electrical signals from photoelectric sensors, making it easier to identify the causes of angle recognition problems, thereby providing a basis for optimizing the code disk structure.

[0008] Another objective of this application is to provide a code disk testing method that facilitates real-time reading of the electrical signals of the photoelectric sensor, making it easier to identify the causes of angle recognition problems, thereby providing a basis for optimizing the code disk structure.

[0009] To achieve the above objectives, this application provides a code disk testing device for testing the ranging module of a dToF lidar. The ranging module includes a base, a code disk fixed relative to the base, a rotating mechanism mounted on the base, and a ranging mechanism mounted on the rotating mechanism. A photoelectric sensor is provided on the rotating PCB board, and the photoelectric sensor generates an electrical signal based on the light signal reflected by the code disk. The code disk testing device includes: First support; The second bracket is used to be fixedly connected to the range measuring mechanism, and the second bracket is provided with a mounting part. A signal transmission device includes a rotating body and a fixed body. The rotating body is circumferentially fixedly mounted on the mounting portion. A first wire is provided on the rotating body and rotates together with the rotating body. The fixed body is fixed to a second bracket and has a second wire. The first wire and the second wire are signal connected. The first wire is connected to the rotating PCB board or the photoelectric sensor. The rotating PCB board transmits electrical signals from the photoelectric sensor to the first wire in real time, or the photoelectric sensor transmits generated electrical signals to the first wire in real time. The second wire is configured to connect to an external waveform display to transmit the electrical signals transmitted from the first wire to the external waveform display for real-time display.

[0010] Optionally, the first support includes a base plate, a top plate, and a connecting portion connecting the base plate and the top plate; The base plate is configured for the fixed placement of the ranging module; The fixing body is fixed to the top plate; The bottom side of the fixing body is provided with a first mounting groove, and the top plate is provided with a through hole, which corresponds to the first mounting groove; The rotating body passes through the through hole, the upper part of the rotating body is rotatably mounted on the first mounting groove, and the lower part of the rotating body is mounted on the mounting part.

[0011] Optionally, the lower end of the fixing body forms a flange, and the flange and the top plate are respectively provided with fixing holes at corresponding positions. The flange is fixedly connected to the top plate by fasteners that cooperate with the fixing holes.

[0012] Optionally, the ranging mechanism is provided with a first positioning structure; The second bracket is provided with a second positioning structure adapted to engage with the first positioning structure; The second positioning structure is fixedly connected to the first positioning structure by fasteners.

[0013] Optionally, the first positioning structure includes a positioning hole formed on the ranging mechanism and a first positioning post protruding upward from the rotor of the rotating mechanism. The positioning hole has a countersunk platform in the middle, the countersunk platform has a first screw hole in the middle, and the first positioning post has a second screw hole. The rotating PCB board is provided with a through hole, and the first positioning post passes through the through hole and extends into the lower part of the positioning hole; The second positioning structure includes a second positioning post extending downward from the second bracket. The second positioning post is provided with a third screw hole. The second positioning post extends into the upper part of the positioning hole. The second positioning post, the positioning hole, and the first positioning post are fixed together by fasteners.

[0014] Optionally, the mounting part is provided with a through hole, through which the first wire passes.

[0015] Optionally, the mounting part includes a second mounting groove, the bottom wall of which is provided with the through hole, and the rotating body is mounted in the second mounting groove.

[0016] To achieve the other objective mentioned above, this application provides a code disk testing system, characterized in that it includes a code disk testing device as described above and a waveform display, wherein the waveform display is connected to the second wire to receive the electrical signal transmitted by the second wire.

[0017] To achieve yet another of the above objectives, this application provides a code disk testing method, comprising: Provides the encoder testing device, waveform display, and the ranging module to be tested as described above; Perform the connection of the second conductor to the waveform display and the assembly and connection of the code disk testing device to the ranging module; When the ranging module is powered on, the rotating mechanism and the ranging core rotate, which in turn drive the second bracket and the rotating body to rotate synchronously. The photoelectric sensor emits light signals to the code disk and receives the light signals reflected by the code disk and generates an electrical signal based on the reflected light signals. The photoelectric sensor transmits the electrical signal to the rotating PCB board in real time, and the rotating PCB board transmits it to the first wire in real time; or the photoelectric sensor transmits the electrical signal to the first wire in real time. The first wire transmits the electrical signal to the second wire, and the second wire transmits the electrical signal to the waveform display. The waveform display shows the electrical signal in real time.

[0018] This application can transmit the electrical signal generated by the photoelectric sensor to a waveform display in real time via a first and second wire to visualize the real-time status of the code disk. This allows for direct and intuitive judgment of the code disk based on the waveform. When there are problems with angle recognition, abnormal waveforms can easily reveal the cause of the angle recognition problem, providing a basis for optimizing the code disk structure. Compared to existing technologies that require wiring to read data when the photoelectric sensor is static, this application can read dynamic signals in real time during the rotation of the photoelectric sensor and display them in waveform form. Furthermore, after assembling and connecting the code disk testing system, this application can directly judge the status based on the real-time waveform display upon power-on, eliminating the need for reading specific duty cycle data and performing conversion and analysis as required in existing code disk testing, thus simplifying the process. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of a ranging module for a dToF lidar.

[0020] Figure 2 yes Figure 1 A schematic diagram of the exploded structure of the mid-range measuring module.

[0021] Figure 3 This is a three-dimensional structural diagram of the encoder testing device and the ranging module after assembly and connection according to an embodiment of this application.

[0022] Figure 4 yes Figure 3 A schematic diagram of its decomposed structure.

[0023] Figure 5 This is a cross-sectional structural diagram of the hidden portion of the ranging module in the embodiment of this application.

[0024] Figure 6 This is a three-dimensional structural diagram of the signal transmission device according to an embodiment of this application.

[0025] Figure 7 This is a three-dimensional structural diagram of the second bracket in the embodiment of this application. Detailed Implementation

[0026] To illustrate the technical content and structural features of this application in detail, the following description is provided in conjunction with the embodiments and accompanying drawings.

[0027] Figures 1 to 3 A ranging module 1 for a dToF lidar is disclosed, which can be tested using the code disk testing device of this application. The ranging module 1 includes a base 10, a code disk (not shown) fixed relative to the base 10, a rotating mechanism disposed on the base 10, and a ranging mechanism 20 disposed on the rotating mechanism.

[0028] The rotating mechanism includes a rotating PCB board 30, on which a photoelectric sensor 40 is mounted. The photoelectric sensor 40 generates an electrical signal based on the light signal reflected from the code disk. This electrical signal can be displayed and read as a waveform on a waveform display. Specifically, during the rotation process, the photoelectric sensor 40 emits a light signal to the code disk, which reflects the light signal back to the photoelectric sensor 40. The photoelectric sensor 40 generates corresponding electrical signals based on the light signals reflected from different positions on the code disk. The photoelectric sensor 40 is powered by the rotating PCB board 30 and is communicatively connected to the rotating PCB board 30 for signal transmission.

[0029] The rotating mechanism may also include components such as a motor 50 and a rotor 60. These structures are not the focus of this application and are known to those skilled in the art, so they will not be described in detail here.

[0030] The code disk is located directly below the photoelectric sensor 40 and is arranged concentrically with the rotor 60. The code disk can be fixed to the base 10 with fasteners.

[0031] In addition, the electrical and communication connections between the ranging mechanism 20 and the rotating PCB board 30, as well as the specific structure of the ranging mechanism 20, are not the focus of this application and are known to those skilled in the art, so this application will not describe them in detail.

[0032] Please see Figures 1 to 7 This application discloses an encoder testing device for testing the aforementioned ranging module 1. The encoder testing device includes a first bracket 70, a second bracket 80, and a signal transmission device 90. The second bracket 80 is fixedly connected to the ranging mechanism 20, and a mounting portion 81 is provided on the second bracket 80. The signal transmission device 90 includes a rotating body 91 and a fixed body 92. The rotating body 91 is circumferentially fixedly mounted on the mounting part 81. A first wire 93 is provided on the rotating body 91 and rotates together with the rotating body 91. The fixed body 92 is fixed to the first bracket 70 and a second wire 94 is provided on the fixed body 92. The first wire 93 and the second wire 94 are signal connected (i.e., signal transmission can be realized). The first wire 93 is connected to a rotating PCB board 30 or a photoelectric sensor 40. The rotating PCB board 30 transmits the electrical signal from the photoelectric sensor 40 to the first wire 93 in real time, or the photoelectric sensor 40 transmits the generated electrical signal to the first wire 93 in real time. The second wire 94 is configured to be connected to an external waveform display (not shown) to transmit the electrical signal transmitted from the first wire 93 to the external waveform display for real-time display.

[0033] It should be noted that "the rotating body 91 is configured to be circumferentially fixedly mounted on the mounting part 81" does not limit the shape of the rotating body 91 to a cylindrical shape, but rather means that it is fixed to the mounting part 81 at least in the rotation direction of the mounting part 81, and thus can rotate with the rotation of the mounting part 81. "The rotating PCB board 30 transmits the electrical signal from the photoelectric sensor 40 to the first wire 93 in real time" can mean that the signal is processed in real time before being transmitted to the second wire 94. The first bracket 70 and the second bracket 80 are not limited to a single structure, and can include two or more components.

[0034] This application utilizes a rotating body 91 fixed relative to the ranging mechanism 20 to set the first wire 93, and a fixed body 92 that remains stationary during the test to set the second wire 94. Thus, during the rotation of the rotating mechanism and the ranging mechanism 20, the first wire 93 can maintain synchronous rotation to ensure a stable connection with the rotating PCB board 30 or the photoelectric sensor 40, while the second wire 94 can also maintain a stable connection with the waveform display, thereby ensuring the reliability of signal transmission.

[0035] This application's code disk testing device can transmit the electrical signal generated by the photoelectric sensor 40 to a waveform display in real time via the first wire 93 and the second wire 94 to visualize the real-time status of the code disk. This allows for direct and intuitive judgment of the code disk through the waveform (real-time monitoring of waveform uniformity and peak values ​​under normal operating conditions, etc.). When angle recognition problems occur, abnormal waveforms easily reveal the cause, providing a basis for optimizing the code disk structure. Compared to existing technologies that require wiring to read data from the photoelectric sensor 40 when it is static, this application can read dynamic signals in real time during the rotation of the photoelectric sensor 40 and display them as waveforms. Furthermore, after assembling and connecting the code disk testing device, this application can directly judge the performance based on the real-time waveform display upon power-on, eliminating the need for reading specific duty cycle data and performing conversion and analysis as in existing code disk testing, thus simplifying the process. In addition, this application only requires adjusting the bracket design for different ranging modules 1, demonstrating strong versatility.

[0036] In some embodiments, the first bracket 70 includes a base plate 71, a top plate 72, and a connecting portion 73 connecting the base plate 71 and the top plate 72; the base plate 71 is configured for the ranging module 1 to be fixedly placed; the fixing body 92 is fixedly connected to the top plate 72, specifically, the fixing body 92 is disposed on the upper side of the top plate 72; a first mounting groove 921 is provided on the bottom side of the fixing body 92, and a through hole 721 is provided on the top plate 72, the through hole 721 corresponding to the first mounting groove 921; the rotating body 91 passes through the through hole 721, the upper part of the rotating body 91 is rotatably mounted on the first mounting groove 921, and the lower part of the rotating body 91 is mounted on the mounting portion 81.

[0037] Through the above-mentioned technical means, this application can use the first bracket 70 to fix the entire ranging module 1, and also use the first bracket 70 to fix the fixing body 92 of the signal transmission device 90. At the same time, the first mounting groove 921 limits the rotation of the rotating body 91, which is conducive to the reliable rotation of the rotating body 91.

[0038] Specifically, the base plate 71 is provided with screw holes 711 corresponding to the base 10 of the ranging module 1, so that the base 10 can be fixed on the base plate 71 by fasteners, thereby fixing the entire ranging module 1.

[0039] It is understandable that the first bracket 70 is not limited to the above form. For example, the first bracket 70 may only be used to fix the fixing body 92, and the ranging module 1 as a whole may be fixed using other structures.

[0040] Specifically, a flange 920 is formed at the lower end of the fixing body 92. Fixing holes 922 and 722 are respectively provided at corresponding positions on the flange 920 and the top plate 72. The flange 920 is fixedly connected to the top plate 72 by fasteners that mate with the fixing holes 922 and 722, thereby fixing the fixing body 92. It can be understood that the fixing body 92 can be a single-piece structure or a non-single-piece structure. For example, the flange 920 can be integrally formed on the fixing body 92, or it can be fixedly connected to the main body of the fixing body 92.

[0041] In some embodiments, the ranging mechanism 20 is provided with a first positioning structure; the second bracket 80 is provided with a second positioning structure adapted to engage with the first positioning structure; the second positioning structure and the first positioning structure are fixedly connected by fasteners. This application, by providing a second positioning structure on the second bracket 80 that is adapted to engage with the first positioning structure on the ranging mechanism 20, allows the second bracket 80 to be fixed to the ranging mechanism 20 using fasteners.

[0042] Specifically, the first positioning structure includes a positioning hole 21 formed on the ranging mechanism 20 and a first positioning post 61 protruding upward from the rotor 60 of the rotating mechanism. A countersunk platform 211 is provided in the middle of the positioning hole 21, and a first screw hole 212 is provided in the middle of the countersunk platform 211. The first positioning post 61 is provided with a second screw hole 611. A through hole 31 is provided on the rotating PCB board 30, and the first positioning post 61 passes through the through hole 31 and extends into the lower part of the positioning hole 21. The second positioning structure includes a second positioning post 82 extending downward from the second bracket 80. The second positioning post 82 is provided with a third screw hole 821 and extends into the upper part of the positioning hole 21. The second positioning post 82, the positioning hole 21 and the first positioning post 61 are fixed together by fasteners.

[0043] Specifically, the diameter of the first positioning post 61 is slightly smaller than the diameter of the positioning hole 21 and the through hole 31 so as to be adapted to be inserted into the positioning hole 21, and the diameter of the second positioning post 82 is slightly smaller than the diameter of the positioning hole 21 so as to be adapted to be inserted into the positioning hole 21.

[0044] In the specific example, the number of positioning holes 21, through holes 31, first positioning post 61 and second positioning post 82 are all two, and they are arranged symmetrically.

[0045] In some embodiments, the mounting part 81 is provided with a through hole 812, through which the first wire 93 passes to facilitate connection to the rotating PCB board 30.

[0046] Specifically, the mounting part 81 includes a second mounting groove 813, the bottom wall of which is provided with a through hole 812. The rotating body 91 is mounted in the second mounting groove 813, thereby facilitating reliable mounting of the rotating body 91. Of course, the mounting part 81 is not limited to this form.

[0047] In some embodiments, since the first wire 93 rotates with the rotating body 91, and the second wire 94 is disposed on the fixed body 92, the first wire 93 and the second wire 94 can be connected by a brush or a spring wire (not shown) to facilitate signal transmission between them. Of course, this is not the only possibility.

[0048] Specifically, there are no restrictions on how the first wire 93 is connected to the rotating PCB board 30 or the photoelectric sensor 40. For example, the first wire 93 can be soldered to the rotating PCB board 30 or connected to the rotating PCB board 30 through a connection interface.

[0049] This application also discloses a code disk testing system, including a code disk testing device as described in the above embodiments and a waveform display (not shown). The waveform display is connected to a second wire 94 to receive electrical signals transmitted by the second wire 94.

[0050] This application's code disk testing system can transmit the electrical signal generated by the photoelectric sensor 40 to a waveform display in real time via the first wire 93 and the second wire 94 to visualize the real-time status of the code disk. This allows for direct and intuitive judgment of the code disk through the waveform (real-time monitoring of waveform uniformity and peak values ​​under normal operating conditions, etc.). When angle recognition problems occur, abnormal waveforms easily reveal the cause, providing a basis for optimizing the code disk structure. Compared to existing technologies that require wiring to read data from the photoelectric sensor 40 when it is static, this application can read dynamic signals in real time during the rotation of the photoelectric sensor 40 and display them as waveforms. Furthermore, after assembling and connecting the code disk testing device, this application can directly judge the status through the real-time waveform display upon power-on, eliminating the need for reading specific duty cycle data and performing conversion and analysis as in existing code disk testing, thus simplifying the process.

[0051] Please see Figures 1 to 7 This application also discloses a code disk testing method, including: Provides the code disk testing device, waveform display, and ranging module 1 to be tested as described in the above embodiments; Connect the second conductor 94 to the waveform display and assemble and connect the code disk testing device to the ranging module 1. When the ranging module 1 is powered on, the rotating mechanism and the ranging core 20 rotate (the rotation of the motor 50 and the rotor 60) and drive the second bracket 80 and the rotating body 91 to rotate synchronously. The photoelectric sensor 40 emits light signals to the code disk and receives the light signals reflected by the code disk and generates electrical signals based on the reflected light signals. At this time, the first bracket 70 and the fixed body 92 remain stationary, so that the second wire 94 remains stable.

[0052] The photoelectric sensor 40 transmits electrical signals to the rotating PCB board 30 in real time, and the rotating PCB board 30 (which can be processed beforehand) transmits the signals to the first wire 93 in real time; or the photoelectric sensor 40 transmits electrical signals to the first wire 93 in real time. The first wire 93 transmits the electrical signal to the second wire 94, and the second wire 94 transmits the electrical signal to the waveform display. The waveform display shows the electrical signal in real time.

[0053] This application's code disk testing method can transmit the electrical signal generated by the photoelectric sensor 40 to a waveform display in real time via the first wire 93 and the second wire 94 to visualize the real-time status of the code disk. This allows for direct and intuitive judgment of the code disk through the waveform (real-time viewing of whether the waveform is uniform under normal operating conditions, whether the peak value meets design requirements, etc.), and the location of waveform anomalies can be used to directly pinpoint the problem area of ​​the code disk. Compared to existing technologies that require wiring and reading data from the photoelectric sensor 40 when it is static, this application can read the dynamic electrical signal in real time during the rotation of the photoelectric sensor 40. Furthermore, after assembling and connecting the code disk testing system, this application can directly read and view the waveform upon power-on, eliminating the need for reading specific duty cycle data and performing conversion and analysis as required in existing code disk testing methods, thus simplifying the process.

[0054] The above-disclosed examples are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall fall within the scope of this application.

Claims

1. A code disk testing device for testing a ranging module of a dToF lidar, the ranging module comprising a base, a code disk fixed relative to the base, a rotating mechanism disposed on the base, and a ranging mechanism disposed on the rotating mechanism, the rotating mechanism comprising a rotating PCB board, the rotating PCB board being provided with a photoelectric sensor, the photoelectric sensor generating an electrical signal based on the light signal reflected by the code disk, characterized in that... The code disk testing device includes: First support; The second bracket is used to be fixedly connected to the range measuring mechanism, and the second bracket is provided with a mounting part. A signal transmission device includes a rotating body and a fixed body. The rotating body is circumferentially fixedly mounted on the mounting portion. A first wire is provided on the rotating body and rotates together with it. The fixed body is fixed to a first bracket and has a second wire. The first wire and the second wire are signal connected. The first wire is connected to a rotating PCB board or a photoelectric sensor. The rotating PCB board transmits electrical signals from the photoelectric sensor to the first wire in real time, or the photoelectric sensor transmits generated electrical signals to the first wire in real time. The second wire is configured to connect to an external waveform display to transmit the electrical signals transmitted from the first wire to the external waveform display for real-time display.

2. The code disk testing device as described in claim 1, characterized in that, The first support includes a base plate, a top plate, and a connecting portion connecting the base plate and the top plate; The base plate is configured for the fixed placement of the ranging module; The fixing body is fixed to the top plate; The bottom side of the fixing body is provided with a first mounting groove, and the top plate is provided with a through hole, which corresponds to the first mounting groove; The rotating body passes through the through hole, the upper part of the rotating body is rotatably mounted on the first mounting groove, and the lower part of the rotating body is mounted on the mounting part.

3. The code disk testing device as described in claim 2, characterized in that, The lower end of the fixing body forms a flange, and the flange and the top plate are respectively provided with fixing holes at corresponding positions. The flange is fixedly connected to the top plate by fasteners that cooperate with the fixing holes.

4. The code disk testing device as described in claim 1, characterized in that, The ranging mechanism is provided with a first positioning structure; The second bracket is provided with a second positioning structure adapted to engage with the first positioning structure; The second positioning structure is fixedly connected to the first positioning structure by fasteners.

5. The code disk testing device as described in claim 4, characterized in that, The first positioning structure includes a positioning hole formed on the ranging mechanism and a first positioning post protruding upward from the rotor of the rotating mechanism. The positioning hole has a countersunk platform in the middle, the countersunk platform has a first screw hole in the middle, and the first positioning post has a second screw hole. The rotating PCB board is provided with a through hole, and the first positioning post passes through the through hole and extends into the lower part of the positioning hole; The second positioning structure includes a second positioning post extending downward from the second bracket. The second positioning post is provided with a third screw hole. The second positioning post extends into the upper part of the positioning hole. The second positioning post, the positioning hole, and the first positioning post are fixed together by fasteners.

6. The code disk testing device as described in claim 1, characterized in that, The mounting part is provided with a through hole, through which the first wire passes.

7. The code disk testing device as described in claim 6, characterized in that, The mounting part includes a second mounting groove, the bottom wall of which is provided with the through hole, and the rotating body is mounted in the second mounting groove.

8. The code disk testing device as described in claim 1, characterized in that, The first wire and the second wire are connected by a brush or a spring wire.

9. A code disk testing system, characterized in that, Includes the code disk testing apparatus and waveform display as described in any one of claims 1 to 8, wherein the waveform display is connected to the second conductor to receive the electrical signal transmitted by the second conductor.

10. A method for testing a code disk, characterized in that, include: Provides a code disk testing device, a waveform display, and the ranging module to be tested as described in any one of claims 1 to 8; Perform the connection of the second conductor to the waveform display and the assembly and connection of the code disk testing device to the ranging module; When the ranging module is powered on, the rotating mechanism and the ranging core rotate, which in turn drive the second bracket and the rotating body to rotate synchronously. The photoelectric sensor emits an optical signal to the code disk, receives the optical signal reflected by the code disk, and generates an electrical signal based on the reflected optical signal. The photoelectric sensor transmits the electrical signal to the rotating PCB board in real time, and the rotating PCB board transmits it to the first wire in real time; or the photoelectric sensor transmits the electrical signal to the first wire in real time. The first wire transmits the electrical signal to the second wire, and the second wire transmits the electrical signal to the waveform display. The waveform display shows the electrical signal in real time.

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