Lidar receiver manufacturing apparatus and lidar receiver manufacturing method

Abstract

Provided are a laser radar receiver manufacturing apparatus and a laser radar receiver manufacturing method. A laser radar receiver manufacturing apparatus according to an embodiment of the present invention aligns a receiving plate having a photosensitive element mounted on one side with the other side of a lens barrel having a lens provided on one side, and then integrates the receiving plate with the lens barrel. The laser radar receiver manufacturing apparatus includes a plate-shaped base plate, a light source portion, and a receiver aligning portion. The light source portion includes a light emitting module and a light emitting module fixing member. The receiver aligning portion can include a plate-shaped aligning plate, a lens barrel fixing member, a receiving plate fixing member, and a receiving plate aligning member.

Description

Technical Field

[0001] This invention relates to a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, and more specifically, to a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method that integrates a receiver plate and a lens barrel by aligning them into a single unit. Background Technology

[0002] Typically, a LiDAR (Light Detection and Ranging) sensor is a device that emits laser pulses and receives the light reflected back by surrounding target objects to measure the distance to the objects, thereby accurately depicting the surrounding environment.

[0003] Unlike radar, which determines distance and direction by emitting and receiving electromagnetic waves, lidar emits pulsed lasers. That is, it uses short-wavelength lasers, thus offering advantages such as high accuracy and resolution, and the ability to perceive objects in three dimensions.

[0004] Recently, with the increasing intelligence of vehicles, we use LiDAR sensors to collect information about the terrain and features outside the vehicle. In particular, to collect information about the terrain and features more accurately, LiDAR sensors with a wide field of view are widely used.

[0005] Therefore, lidar sensors typically have the following structure: a collimating lens focuses the laser light output from a high-output laser diode into parallel light, and a focusing lens positions the photosensitive element at the focal length. Micro-alignment is essential in the optical system of such lidar sensors.

[0006] At this time, due to vibrations or impacts generated during vehicle operation, the light alignment of the LiDAR sensor used in the vehicle may be distorted, resulting in reduced sensing accuracy or resolution. Therefore, conventional LiDAR sensors have been designed with structures capable of correcting for light alignment distortion.

[0007] However, this structure has the problem of failing to reflect the recent trend of minimizing the size of lidar sensors, which can only be installed on the outside of the vehicle, in order to reduce air resistance during vehicle operation without compromising the vehicle's aesthetics.

[0008] Furthermore, for the light alignment of the lidar sensor, it is necessary to confirm the lidar sensor's viewing angle. Therefore, in the past, this was achieved by ensuring the actual viewing angle range that the lidar sensor could detect, allowing the photosensitive element of the lidar sensor to smoothly detect light.

[0009] However, recently, with the expansion of the field of view of lidar sensors, the problem of ensuring a wider space to ensure the field of view of lidar sensors has emerged. Summary of the Invention

[0010] Technical issues

[0011] In order to solve the problems mentioned above, the object of the present invention is to provide a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, wherein the receiver and the lens are optically aligned, thereby maintaining constant optical alignment after the lidar sensor is manufactured.

[0012] Furthermore, the purpose of this invention is to provide a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, which can confirm the viewing angle of the lidar sensor even in a small space when manufacturing a lidar sensor.

[0013] The problems of this invention are not limited to those mentioned above. Those skilled in the art to which this invention pertains will clearly understand other problems not mentioned through the following description.

[0014] Technical solution

[0015] To address the aforementioned problems, one aspect of the lidar receiver manufacturing apparatus of the present invention integrates a receiver plate with a photosensitive element mounted on one side and a lens barrel with a lens on one side, after aligning the receiver plate with the lens barrel on the other side. The apparatus may include: a base plate, formed as a plate and extending rearward; a light source unit disposed on the rear side of the upper surface of the base plate; and a receiver alignment unit disposed on the front side of the base plate opposite to the light source unit. The light source unit may include: a light-emitting module, provided with a light-emitting element that illuminates light forward; and a light-emitting module fixing member that fixes the light-emitting module to the base plate. The receiver alignment unit may include: an alignment plate, formed as a plate; a lens barrel fixing member that fixes the lens barrel to the front side of the alignment plate; a receiver plate fixing member that fixes the receiver plate to the alignment plate, such that the receiver plate is disposed on the rear side of the lens barrel; and a receiver plate alignment member that, in a configuration such that the light reaches the photosensitive element perpendicularly, integrates the receiver plate with the rear side of the lens barrel.

[0016] At this time, the aforementioned photosensitive elements are configured in multiple ways, and the multiple photosensitive elements can be arranged in a row on one side of the receiving plate.

[0017] At this time, the aforementioned lens barrel fixing component can fix the lens barrel in such a way that the length direction of the lens barrel is parallel to the length direction of the base plate.

[0018] At this time, the light source unit also includes a light-emitting module alignment component, which is disposed between the light-emitting module fixing component and the base plate, and is used to control the movement path of the light of the light-emitting module. The light-emitting module alignment component is controlled in such a way that the movement path of the light is moved along a first axis extending in the left-right direction.

[0019] At this time, the receiving plate alignment component may also include a receiving plate alignment component, so that the receiving plate fixing component is connected to the alignment plate, and the receiving plate is controlled to rotate by using the second axis extending in the vertical direction as the rotation axis.

[0020] At this time, the aforementioned lidar receiver manufacturing apparatus further includes a light-emitting module alignment component, which is disposed between the light-emitting module fixing component and the base plate, for controlling the movement path of the light from the light-emitting module. The light-emitting module alignment component can control the movement path of the light to rotate around a first axis, which extends in a left-right direction parallel to the base plate.

[0021] At this time, the light source unit also includes a light-emitting module alignment component, which is disposed between the light-emitting module fixing component and the base plate, and is used to control the movement path of the light of the light-emitting module. The light-emitting module alignment component is controlled in such a way that the movement path of the light can be moved along a third axis, which extends in the vertical direction.

[0022] At this time, the aforementioned lidar receiver manufacturing apparatus may further include a receiver plate alignment component, which connects the receiver plate fixing component to the alignment plate so that the receiver plate is controlled to rotate using the fourth axis as a rotation axis, the fourth axis extending in the left-right direction.

[0023] At this time, the aforementioned lidar receiver manufacturing apparatus may further include a receiver plate alignment component, which connects the receiver plate fixing component to the alignment plate so that the receiver plate is controlled to rotate using the fifth axis as a rotation axis, the fifth axis extending in the front-back direction.

[0024] At this time, the aforementioned lidar receiver manufacturing apparatus may further include a receiver plate alignment component, which connects the receiver plate fixing component to the alignment plate and controls the movement of the receiver plate along a fifth axis, the fifth axis extending in the front-back direction.

[0025] At this time, the receiver alignment part may also include an alignment plate alignment component, which connects the alignment plate to the base plate so that the alignment plate is controlled to rotate the sixth axis as a rotation axis, and the sixth axis extends in the left and right direction.

[0026] At this time, the receiver alignment part may also include an alignment plate alignment component, which connects the alignment plate to the base plate so that the alignment plate is controlled to rotate the seventh axis as a rotation axis, and the seventh axis extends in the vertical direction.

[0027] At this time, the alignment plate alignment component can rotate around the center point of the optical stop area of ​​the lens of the lens barrel.

[0028] To address the aforementioned problems, one aspect of the present invention provides a laser radar receiver manufacturing method utilizing a laser radar receiver manufacturing apparatus, which may include: a lens barrel fixing step, wherein a lens barrel is fixed to a lens barrel fixing member such that the lens faces rearward, the lens barrel fixing member being disposed on one side of a base plate; a receiver plate fixing step, wherein a receiver plate having a plurality of photosensitive elements disposed on one side is fixed to a receiver plate fixing member such that the plurality of photosensitive elements disposed in a row along the vertical direction on the receiver plate fixing member face the lens barrel, the receiver plate fixing member being located on the rear side of the lens barrel; a light source alignment step, wherein light irradiated from a light-emitting module having a light-emitting element is arranged such that it faces the lens; a receiver alignment step, wherein the light path is aligned such that the light reaches the photosensitive element perpendicularly; and a receiver bonding step, wherein the receiver plate is bonded to the rear side of the lens barrel.

[0029] At this time, in the above-mentioned lens barrel fixing step, the lens barrel is fixed to the lens barrel fixing component in such a way that the length direction of the lens barrel is parallel to the length direction of the base plate.

[0030] At this time, the above-mentioned light source alignment step may include: a vertical alignment step of the light-emitting module, in which the light-emitting module is aligned by means of a light-emitting module alignment member disposed between the light-emitting module fixing member and the base plate, so that the light movement path of the light-emitting module is controlled to move along an axis extending in the left and right direction; and a horizontal alignment step of the light-emitting module, in which the light movement path of the light-emitting module is controlled to move along an axis extending in the up and down direction.

[0031] At this time, in the above-mentioned vertical alignment step of the light-emitting module, the light-emitting module alignment component is used to control the movement path of the light in a way that rotates around an axis extending in the left and right direction, so that the movement path of the light is parallel to the base plate.

[0032] At this time, the receiver alignment step may include a lens barrel alignment step, in which an alignment plate alignment member, disposed between an alignment plate to which the lens barrel fixing member is attached and the base plate, controls the alignment plate to rotate using axes extending in the left-right direction and axes extending in the up-down direction as rotation axes, so that the extension direction of the lens barrel extending forward is parallel to the path of light irradiated from the light-emitting element. At this time, the receiver alignment step may also include a receiver plate alignment step, in which a receiver plate alignment member, connected to the alignment plate, aligns the receiver plate so that the movement path of the light irradiated from the light-emitting element is aligned with the photosensitive element of the receiver plate.

[0033] At this time, the above-mentioned receiving plate alignment step may include: a receiving plate vertical alignment step, in which the receiving plate is controlled by the receiving plate alignment member to move along an axis extending in the up-down direction or to rotate around an axis extending in the left-right or front-back direction; and a receiving plate horizontal alignment step, in which the receiving plate is controlled by the receiving plate alignment member to move along an axis extending in the left-right direction or to rotate around an axis extending in the up-down direction.

[0034] At this time, the above-mentioned receiving plate alignment step may also include a focusing step, in which the receiving plate is controlled to move along an axis extending in the front-back direction by means of the above-mentioned receiving plate alignment component.

[0035] At this time, the receiver alignment step may also include a viewing angle confirmation step, in which the lens barrel fixing member that fixes the lens barrel and the alignment plate alignment member that controls the rotation of the alignment plate that supports and fixes the receiving plate are confirmed to have reached the photosensitive element while the light movement path is aligned.

[0036] At this time, in the above-mentioned perspective confirmation step, the lens barrel can be controlled to rotate around the optical stop surface of the lens barrel as the center point.

[0037] At this time, the above-mentioned viewing angle confirmation step may include: a vertical alignment confirmation step, confirming whether the multiple photosensitive elements detect light while the alignment plate rotates around an axis extending in the left-right direction; and a horizontal alignment confirmation step, in which the alignment plate rotates around an axis extending in the up-down direction, and the intensity of the light detected by the multiple photosensitive elements is symmetrical.

[0038] The effects of the invention

[0039] In a lidar receiver manufacturing apparatus and lidar receiver manufacturing method according to an embodiment of the present invention, the receiver and lens are fixed together with the lens barrel, thereby performing optical alignment between the receiver and the lens, and thus maintaining constant optical alignment after manufacturing the lidar sensor.

[0040] Furthermore, in a lidar receiver manufacturing apparatus and lidar receiver manufacturing method according to an embodiment of the present invention, a structure is provided that allows the lens barrel and the receiving plate with the lens to rotate together. As a result, when manufacturing a lidar sensor, the viewing angle of the lidar sensor can be confirmed even in a small space.

[0041] The effects of this invention are not limited to those described above. It should be understood that all effects can be inferred from the description of this invention or the invention as described in the claims. Attached Figure Description

[0042] Figure 1 A side view of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0043] Figure 2 A side view showing the receiving plate and lens barrel fixing steps of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0044] Figure 3 A side view illustrating the vertical alignment step of the receiver plate in a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0045] Figure 4 This is a top view illustrating the horizontal alignment step of the receiver board in a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0046] Figure 5 A side view illustrating the focusing step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0047] Figure 6 This diagram illustrates the receiver plate alignment step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0048] Figure 7 This is a side view illustrating the vertical alignment confirmation step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0049] Figure 8 This is a top view illustrating the horizontal alignment confirmation step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0050] Figure 9 The flowchart illustrates a method for manufacturing a lidar receiver according to an embodiment of the present invention.

[0051] Figure 10 This is a flowchart illustrating the light source alignment step of a lidar receiver manufacturing method according to an embodiment of the present invention.

[0052] Figure 11 This is a flowchart illustrating the receiver alignment step of a lidar receiver manufacturing method according to an embodiment of the present invention.

[0053] Figure 12 This is a flowchart illustrating the receiver board alignment step in a lidar receiver manufacturing method according to an embodiment of the present invention.

[0054] Figure 13 This is a flowchart illustrating the viewing angle confirmation step of a lidar receiver manufacturing method according to an embodiment of the present invention.

[0055] Explanation of reference numerals in the attached figures

[0056] 1: LiDAR receiver manufacturing equipment; 48: Photosensitive element

[0057] 10: Base plate S100: Lens barrel fixing steps

[0058] 20: Light source section S200: Receiver plate fixing procedure

[0059] 22: Light-emitting module S300: Light source alignment steps

[0060] 23: Light-emitting element S310: Vertical alignment steps of light-emitting module

[0061] 24: Light-emitting module fixing component S320: Light-emitting module horizontal alignment steps

[0062] 26: Light-emitting module alignment component S400: Receiver alignment steps

[0063] 30: Receiver alignment section S410: Lens barrel alignment step

[0064] 31: Alignment plate S420: Receiving plate alignment steps

[0065] 32: Lens barrel fixing component S421: Vertical alignment procedure of receiving plate

[0066] 34: Receiver plate fixing component S422: Receiver plate horizontal alignment procedure

[0067] 36: Receiver plate alignment component S423: Focusing step

[0068] 38: Alignment plate alignment component S430: View confirmation procedure

[0069] 40: Receiver S431: Vertical Alignment Confirmation Step

[0070] 42: Lens tube S432: Horizontal alignment confirmation procedure

[0071] 44: Lens S500: Receiver Assembly Steps

[0072] 46: Receiver board Detailed Implementation

[0073] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, enabling those skilled in the art to readily implement the embodiments of the present invention. The present invention can be implemented in various different forms and is not limited to the embodiments described herein.

[0074] In the accompanying drawings, for clarity of illustration, parts unrelated to the description have been omitted. Throughout the specification, the same or similar structural elements are given the same reference numerals. Unless otherwise defined, the terminology used in the embodiments of the invention should be interpreted as meaning commonly understood by one of ordinary skill in the art.

[0075] The following will Figure 1 The X-axis is defined as the rearward direction, the Y-axis as the rightward direction, and the Z-axis as the topward direction for illustration. In the accompanying drawings, to clearly express structural features, the thickness or size is exaggerated; the thickness of the structure shown in the drawings is not the same as the actual thickness.

[0076] The term "connection" or "linkage" hereafter refers not only to direct connections or links, but also to indirect connections or links through other structures.

[0077] The terms "first," "second," etc., can be used to describe various structural elements, but these structural elements are not limited to the terms used. These terms are only used to distinguish one structural element from another. For example, without departing from the scope of this invention, a "first structural element" can be named a "second structural element," and similarly, a "second structural element" can be named a "first structural element."

[0078] Figure 1 A side view of a lidar receiver manufacturing apparatus according to an embodiment of the present invention. Figure 2 A side view showing the receiving plate and lens barrel fixing steps of a lidar receiver manufacturing apparatus according to an embodiment of the present invention. Figure 3 A side view illustrating the vertical alignment step of the receiver plate in a lidar receiver manufacturing apparatus according to an embodiment of the present invention. Figure 4 This is a top view illustrating the horizontal alignment step of the receiver board in a lidar receiver manufacturing apparatus according to an embodiment of the present invention. Figure 5 A side view illustrating the focusing step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0079] Figure 6 This diagram illustrates the receiver plate alignment step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0080] Figure 7 This is a side view illustrating the vertical alignment confirmation step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention. Figure 8 This is a top view illustrating the horizontal alignment confirmation step of a lidar receiver manufacturing apparatus according to an embodiment of the present invention.

[0081] This invention relates to a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, and more specifically, to a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, wherein, as a component of a lidar device, a receiving plate 46 with a photosensitive element 48 mounted on one side is aligned with the other side of a lens barrel 42 with a lens 44 mounted on one side, and then integrated with the lens barrel 42.

[0082] This invention provides a lidar receiver manufacturing apparatus and a lidar receiver manufacturing method, wherein the following structure is provided: the receiver and lens are fixed together with the lens barrel, thereby aligning the receiver and lens optically. After manufacturing the lidar sensor, the optical alignment can be kept constant, and the lens barrel and the receiving plate are rotated together. Thus, when manufacturing the lidar sensor, the viewing angle of the lidar sensor can be confirmed in a small space.

[0083] At this time, the lidar receiver manufactured by the present invention is a lidar receiver set in a one-dimensional lidar, and the lidar receiver has multiple photosensitive elements 48, such as... Figure 6 In section (c), multiple photosensitive elements 48 are arranged in a row. Hereinafter, a one-dimensional lidar manufactured according to the present invention will be used as a precursor for description.

[0084] Reference Figure 1 According to an embodiment of the present invention, a lidar receiver manufacturing apparatus 1 includes a base plate 10, a light source 20, and a receiver alignment part 30.

[0085] like Figure 1 As shown, the base plate 10 supports the light source section 20 and the receiver alignment section 30. The base plate 10 is formed of a plate extending rearward, with the light source section 20 and the receiver alignment section 30 disposed at both ends. The extension length of the base plate 10 can be designed differently depending on the rotatable angle of the alignment plate alignment member 38 for viewing angle alignment, which will be described later.

[0086] like Figure 3As shown, the light source unit 20, supported by the base plate 10, is attached to the rear end of the base plate 10. The light source unit 20 irradiates light toward the lidar receiver side, thereby aligning the photosensitive element 48 and the lens barrel 42 of the receiver plate 46 (described later) when manufacturing the lidar receiver.

[0087] Therefore, such as Figure 1 As shown, the light source unit 20 of the lidar receiver manufacturing apparatus 1 according to an embodiment of the present invention includes a light-emitting module 22 and a light-emitting module fixing component 24.

[0088] like Figure 3 As shown, the light-emitting module 22 is provided with a light-emitting element 23, which illuminates light in front of the receiving plate 46 and the lens barrel 42. The light illuminated by the light-emitting element 23 is not limited and can be configured according to the wavelength of the lidar device suitable for setting the receiver.

[0089] The light-emitting module 22 is fixed to the base plate 10 by the light-emitting module fixing component 24, which serves as a mounting component to allow the light-emitting module 22 to be assembled. Thus, even if the application wavelengths of the lidar receivers 40 that need to be aligned are different, various lidar receivers can be manufactured using a single lidar receiver manufacturing apparatus 1 by replacing the light-emitting modules 22 that illuminate different wavelengths of light with the light-emitting module fixing component 24.

[0090] like Figure 1 As shown, the light source unit 20 of the lidar receiver manufacturing apparatus 1 according to an embodiment of the present invention may further include a light-emitting module alignment member 26.

[0091] like Figure 1 As shown, the light-emitting module fixing component 24 can be fixed to the base plate 10 via the light-emitting module alignment component 26. The light-emitting module 22 can be aligned with the base plate 10 via the light-emitting module alignment component 26 while it is fixed to the light-emitting module fixing component 24.

[0092] In order to use the light emitted from the light-emitting element 23 of the light-emitting module 22 for optical alignment of the lidar receiver, the light emitted from the light-emitting element 23 should be directed parallel to the upper surface of the base plate 10. Furthermore, the light emitted from the light-emitting element 23 should be directed towards the center of the stopping surface that determines the light intensity of the lens barrel 42 (described later). Thus, the path of the light emitted from the light-emitting module 22 is adjusted by the light-emitting module alignment member 26.

[0093] To explain in more detail, the light-emitting module alignment member 26 can be controlled to move the light-emitting module 22 in the left-right direction. In this specification, the axis extending in the left-right direction, which is the path of movement of the light-emitting module 22, will be defined as the first axis.

[0094] Furthermore, the light-emitting module alignment component 26 can control the light-emitting module 22 to rotate using the first axis as the rotation axis.

[0095] Furthermore, the light-emitting module alignment member 26 can be controlled to move the light-emitting module 22 in the vertical direction. In this specification, the axis extending in the vertical direction along the path of movement of the light-emitting module 22 will be defined as the third axis for explanation.

[0096] As described above, the light-emitting module alignment member 26 controls the linear movement of the light-emitting module 22 along the first and third axes, thereby controlling the light L1 emitted from the light-emitting module 22 to reach the center of the stop surface of the lens barrel 42. Furthermore, by controlling the light-emitting module 22 to rotate around the first axis, the light emitted from the light-emitting module 22 is controlled to be emitted parallel to the upper surface of the base plate 10.

[0097] like Figure 2 As shown, the receiver alignment part 30 is disposed on the opposite side of the light source part 20, facing the light source part 20. The receiver alignment part 30 fixes and aligns the receiver plate 46 and the lens barrel 42 that constitute the lidar receiver. Therefore, the receiver alignment part 30 of the lidar receiver manufacturing apparatus 1 according to an embodiment of the present invention includes an alignment plate 31, a lens barrel fixing member 32, an alignment plate alignment member 38, a receiver plate fixing member 34, and a receiver plate alignment member 36.

[0098] like Figure 2 As shown, the alignment plate 31 is not limited as long as it can support the receiving plate 46 and the lens barrel 42. In this embodiment, it is formed in the shape of a plate. A lens barrel fixing member 32 is disposed at the rear end of the light source section 20 of the plate-shaped alignment plate 31 to fix the lens barrel 42.

[0099] like Figure 2 As shown, the lens barrel 42, which is formed as a hollow cylindrical shape extending along the length of the lens barrel fixing member 32, has a lens 44 disposed on one side for collecting light irradiated from the light source unit 20, and a receiving plate 46 (described later) disposed on the other side. Thus, the light collected by the lens 44 passes through the lens barrel 42 and moves toward the photosensitive element 48 disposed on one side of the receiving plate 46.

[0100] At this time, the lens barrel fixing member 32 fixes the lens barrel 42 in such a way that the length extension direction of the lens barrel 42 is parallel to the length extension direction of the base plate 10. As described above, when the lens barrel 42 is fixed, as long as the light irradiated from the aforementioned light source 20 is irradiated by the light emission module alignment member 26 parallel to the extension direction of the base plate 10, the extension direction of the lens barrel 42 and the path of the light can be arranged parallel to each other in the XY plane.

[0101] At this time, as Figure 2 As shown, the alignment plate 31 that fixes the lens barrel 42 is attached to the base plate 10 by an alignment plate alignment member 38. The alignment plate alignment member 38 can control the direction of the lens barrel 42 in such a way that the extending direction of the lens barrel 42 fixed to the alignment plate 31 is parallel to the path of the light irradiated from the light source 20.

[0102] At this time, the alignment plate alignment component 38 does not control the up-down or left-right movement of the alignment plate 31. This is because the relative movement of the alignment plate 31 can be controlled by controlling the up-down or left-right movement of the light source unit 20.

[0103] In order to control the orientation of the lens barrel 42 attached to the alignment plate 31, the alignment plate alignment component 38 can use the sixth axis extending in the left-right direction and the seventh axis extending in the up-down direction as rotation axes to rotate the alignment plate 31.

[0104] At this time, the alignment plate alignment component 38 does not rotate around the axis extending in the front-back direction because it aligns with the receiving plate 46 described later, thereby aligning the lens barrel 42 and the receiving plate 46.

[0105] However, the alignment plate alignment component 38 controls the alignment plate 31 by using the rotation center of the alignment plate 31 as the center point of the stop surface of the lens barrel 42. By controlling it in the manner described above, after the alignment plate 31 is aligned, only the receiving plate 46 is aligned without modifying the light path of the alignment plate 31 and the light source unit 20. This allows the manufacture of a lidar receiver and enables the additional performance of the viewing angle confirmation operation described later.

[0106] like Figure 2 As shown, after the alignment plate 31 and the lens barrel 42 are aligned by the alignment plate alignment member 38, a receiving plate 46 with a photosensitive element 48 is aligned and disposed at the front end of the aligned lens barrel 42. Therefore, as... Figure 3 As shown, the receiving plate 46 is fixed to the alignment plate 31 by the receiving plate fixing member 34. At this time, the receiving plate fixing member 34 supports the front of the receiving plate 46 with the photosensitive element 48 of the receiving plate 46 facing rearward.

[0107] like Figure 3 As shown, a receiver plate alignment member 36 is disposed in front of the receiver plate fixing member 34 to engage the receiver plate alignment member 36 and the alignment plate 31. The receiver plate alignment member 36 controls the movement of the receiver plate 46 in a manner that aligns the receiver plate 46 with the lens barrel 42.

[0108] In order to align the receiving plate 46 with the lens barrel 42, the receiving plate alignment member 36 can use the second axis extending in the vertical direction and the fourth axis extending in the horizontal direction as rotation axes to rotate the receiving plate fixing member 34.

[0109] Therefore, as Figure 6 In part (b), if the light irradiated from the light-emitting module 22 and passing through the lens barrel 42 does not reach the center of the photosensitive element 48, the receiving plate fixing member 34 is rotated about the second axis or the fourth axis, thereby, as Figure 6 Part (c) allows light to be positioned at the center of the photosensitive element 48.

[0110] In particular, the receiving plate alignment member 36 can use a fifth axis extending in the vertical direction as a rotation axis to rotate the receiving plate fixing member 34. In this case, such as Figure 6 In part (a), when the photosensitive element 48 of the receiving plate 46 is not vertically positioned on the ground, the receiving plate fixing member 34 is rotated about the fifth axis, thereby, as Figure 6 Part (c) allows light to be positioned at the center of the photosensitive element 48.

[0111] Furthermore, the receiving plate alignment member 36 is controlled according to the fifth axis so that the receiving plate fixing member 34 can move forward or backward. Thus, when the phase formed by the light reaching the photosensitive element 48 through the lens barrel 42 cannot be well focused on the photosensitive element 48, resulting in low sensitivity of the photosensitive element 48, the photosensitive element 48 can be moved forward or backward to adjust the focus.

[0112] Furthermore, when the receiver plate alignment member 36 moves the receiver plate fixing member 34 forward or backward according to the fifth axis, it combines the receiver plate 46 and the lens barrel 42 into one unit, thereby creating an aligned and non-distorted lidar receiver by integrating it with the lens barrel 42. At this time, the method of joining the receiver plate 46 and the lens barrel 42 can use known methods such as chemical bonding or threaded connection, but is not limited to these methods.

[0113] Figure 9 The flowchart illustrates a method for manufacturing a lidar receiver according to an embodiment of the present invention. Figure 10 This is a flowchart illustrating the light source alignment step of a lidar receiver manufacturing method according to an embodiment of the present invention. Figure 11 This is a flowchart illustrating the receiver alignment step of a lidar receiver manufacturing method according to an embodiment of the present invention. Figure 12 This is a flowchart illustrating the receiver board alignment step in a lidar receiver manufacturing method according to an embodiment of the present invention. Figure 13 This is a flowchart illustrating the viewing angle confirmation step of a lidar receiver manufacturing method according to an embodiment of the present invention.

[0114] A method for manufacturing a lidar receiver using a lidar receiver manufacturing apparatus 1 according to an embodiment of the present invention includes a lens barrel fixing step S100, a receiver plate fixing step, a light source alignment step S300, a receiver alignment step S400, and a receiver bonding step S500. Hereinafter, descriptions that are repeated with the aforementioned lidar receiver manufacturing apparatus 1 will be omitted.

[0115] like Figure 2 and Figure 9 As shown, in the lens barrel fixing step S100, the lens barrel 42 is fixed to the lens barrel fixing member 32 so that the lens 44 faces rearward. At this time, when the lens barrel 42 is fixed to the lens barrel fixing member 32, it is arranged so that the length direction of the lens barrel 42 is parallel to the length direction of the base plate 10.

[0116] like Figure 2 and Figure 9 As shown, in the receiving plate fixing step S200, a receiving plate 46 with a plurality of photosensitive elements 48 arranged on the rear side is fixed to the receiving plate fixing member 34 located on the rear side of the lens barrel 42, so that the plurality of photosensitive elements 48 arranged in a row along the vertical direction face the lens barrel 42.

[0117] like Figure 3 and Figure 9 As shown, in the light source alignment step S300, the light source is configured such that the light irradiated from the light-emitting module 22 on which the light-emitting element 23 is provided is directed toward the lens 44.

[0118] At this time, the light source alignment step S300 includes the vertical alignment step S310 of the light-emitting module and the horizontal alignment step S320 of the light-emitting module.

[0119] like Figure 3 , Figure 9 and Figure 10 As shown, in the vertical alignment step S310 of the light-emitting module, the light-emitting module alignment member 26, which is disposed between the light-emitting module fixing member and the base plate 10, controls the movement path of the light of the light-emitting module 22 to move along a first axis extending in the left and right direction.

[0120] At this time, in the vertical alignment step S310 of the light-emitting module, the movement path of the light is controlled to rotate around the first axis extending in the left and right direction, so that the movement path of the light is parallel to the base plate 10.

[0121] like Figure 4 , Figure 9 and Figure 10 As shown, in the horizontal alignment step S320 of the light-emitting module, the movement path of the light from the light-emitting module 22 is controlled to move along a third axis extending in the vertical direction.

[0122] exist Figure 9 In the receiver alignment step S400 shown, the path of light movement is aligned so that the light reaches the photosensitive element 48 perpendicularly.

[0123] Reference Figure 9 and Figure 11 The receiver alignment step S400 of the lidar receiver manufacturing method using lidar receiver manufacturing apparatus 1 in one embodiment of the present invention includes a lens barrel alignment step S410 and a receiver plate alignment step S420.

[0124] In the receiving plate alignment step S420, the receiving plate 46 is aligned by connecting the receiving plate fixing member 34 to the receiving plate alignment member 36 of the alignment plate 31, so that the movement path of the light emitted from the light-emitting element 23 is aligned with the photosensitive element 48 of the receiving plate 46.

[0125] In the receiver alignment step S400, the alignment plate alignment member 38 is used to control the alignment plate 31 to rotate in such a way that the sixth axis extending in the left-right direction and the seventh axis extending in the up-down direction are used as rotation axes, so that the extension direction of the forward-extending lens barrel 42 is arranged parallel to the path of the light irradiated from the light-emitting element 23.

[0126] At this time, the receiver plate alignment step S420 of the laser radar receiver manufacturing method using the laser radar receiver manufacturing apparatus 1 in an embodiment of the present invention includes a receiver plate vertical alignment step S421, a receiver plate horizontal alignment step S422, and a focusing step S423.

[0127] like Figure 3 , Figure 9 and Figure 12 As shown, in the vertical alignment step S421 of the receiving plate, the receiving plate alignment member 36 controls the receiving plate 46 to move along the second axis extending in the up-down direction or to rotate around the fourth axis extending in the left-right direction or the fifth axis extending in the front-back direction.

[0128] like Figure 4 , Figure 9 and Figure 12 As shown, in the receiving plate horizontal alignment step S422, the receiving plate alignment member 36 controls the receiving plate 46 to move along a fourth axis extending in the left-right direction or rotate along a second axis extending in the up-down direction.

[0129] like Figure 5 , Figure 9 and Figure 12 As shown, in the focusing step S423, the receiving plate 46 is controlled to move along the fifth axis extending in the back-and-forth direction by means of the receiving plate alignment member 36.

[0130] like Figure 9 and Figure 11 As shown, the laser radar receiver manufacturing method using the laser radar receiver manufacturing apparatus 1 in one embodiment of the present invention may further include a viewing angle confirmation step S430.

[0131] like Figure 7 , Figure 8 As shown, in the viewing angle confirmation step S430, the lens barrel fixing member 32 that fixes the lens barrel 42 and the alignment plate alignment member 38 that is controlled to rotate the alignment plate 31 that is fixed to the receiving plate 46 are aligned with the moving path of the light, confirming whether the light reaches the photosensitive element 48.

[0132] In the viewing angle confirmation step S430, the alignment plate alignment member 38 controls the alignment plate 31 to rotate around the center point of the optical stop surface of the lens 44 of the lens barrel 42.

[0133] The viewing angle confirmation step S430 of the lidar receiver manufacturing method using lidar receiver manufacturing apparatus 1 in one embodiment of the present invention includes a vertical alignment confirmation step S431 and a horizontal alignment confirmation step S432.

[0134] like Figure 7 , Figure 13 As shown, in the vertical alignment confirmation step S431, the alignment plate alignment member 38 can move together with the lens barrel 42 and the receiving plate 46 using the sixth axis extending in the left-right direction as the rotation axis. Thus, if the top of the viewing angle of the lidar receiver is close to the light-emitting element, light is detected at the bottom of the row of photosensitive elements 48, and if the bottom of the viewing angle of the lidar receiver is close to the light-emitting element, light is detected at the top of the row of photosensitive elements 48.

[0135] On the contrary, such as Figure 7 As shown, the alignment plate alignment member 38 can move together with the lens barrel 42 and the receiving plate 46 using the seventh axis extending in the vertical direction as the rotation axis. In this case, in the case of a one-dimensional lidar, the viewing angle is fixed in the vertical direction and is not formed in the horizontal direction. Therefore, if the lens barrel 42 and the receiving plate 46 are rotated about the seventh axis by the alignment plate alignment member 38, the photosensitive element 48 will not be able to detect light.

[0136] Through the process described above, it can be confirmed whether the lens barrel 42 and the receiving plate 46 are accurately aligned. However, if the above-described vertical alignment confirmation step S431 or horizontal alignment confirmation step S432 does not yield the expected results, the aforementioned steps are repeated to align the receiving plate 46 and the lens barrel 42.

[0137] like Figure 9 As shown, in the receiver bonding step S500, with the receiver plate 46 and the lens barrel 42 aligned through the aforementioned steps, the receiver plate 46 is bonded to the rear side of the lens barrel 42.

[0138] The above describes the lidar receiver manufacturing apparatus and lidar receiver manufacturing method of various embodiments of the present invention. However, the lidar receiver manufacturing method of this embodiment is not only applicable to the case of aligning the receiving plate and lens barrel of the lidar receiver, but can also be used as a device for appropriately controlling the optical path. Anyone skilled in the art to which this invention pertains can clearly understand this.

[0139] As described above, preferred embodiments of the present invention have been illustrated. Other specific forms may be embodied in addition to the embodiments described above without departing from the spirit or scope of the invention, as will be apparent to those skilled in the art. Therefore, the above embodiments are illustrative and not restrictive, and thus the present invention is not limited to the above description, and modifications may be made within the scope of the appended claims and their equivalents.

Claims

1. A method for manufacturing a lidar receiver, characterized in that, The above manufacturing method includes: The lens barrel fixing step involves fixing the lens barrel to the lens barrel fixing component with the lens facing rearward. The lens barrel fixing component is located on one side of the base plate. In the receiving plate fixing step, a receiving plate with multiple photosensitive elements arranged on one side is fixed to a receiving plate fixing component, such that the multiple photosensitive elements arranged in a row on the receiving plate fixing component along the vertical direction face the lens barrel, and the receiving plate fixing component is located on the rear side of the lens barrel. The light source alignment step is performed so that the light irradiated from the light-emitting module having the light-emitting element is directed toward the lens described above; The receiver alignment step aligns the movement path of the light so that it reaches the photosensitive element perpendicularly; and The receiver assembly step involves attaching the receiver plate to the rear side of the lens barrel. The receiver alignment step also includes a viewing angle confirmation step. By fixing the lens barrel and the alignment plate, which is controlled to rotate the alignment plate that supports the receiving plate fixing member, the light reaches the photosensitive element while the light movement path is aligned, and the lens barrel rotates around the optical stop surface of the lens.

2. The method for manufacturing a lidar receiver according to claim 1, characterized in that, In the above-described lens barrel fixing step, the lens barrel is fixed to the lens barrel fixing component in such a way that the length direction of the lens barrel is parallel to the length direction of the base plate.

3. The method for manufacturing a lidar receiver according to claim 1, characterized in that, The above light source alignment steps include: The vertical alignment step of the light-emitting module involves using a light-emitting module alignment member disposed between the light-emitting module fixing member and the base plate to control the movement path of the light from the light-emitting module along an axis extending in the left-right direction or rotating around an axis extending in the left-right direction, thereby making the movement path of the light from the light-emitting module parallel to the base plate; and The horizontal alignment step of the light-emitting module is controlled in such a way that the movement path of the light from the light-emitting module moves along an axis extending in the vertical direction.

4. The method for manufacturing a lidar receiver according to claim 1, characterized in that, The above receiver alignment steps include: The lens barrel alignment step involves an alignment plate alignment member disposed between an alignment plate, which is connected to the lens barrel fixing member, and the base plate. This alignment plate is controlled to rotate using axes extending in the left-right direction and axes extending in the up-down direction as rotation axes, ensuring that the forward-extending direction of the lens barrel is parallel to the path of light irradiated from the light-emitting element. The receiving plate alignment step involves connecting the receiving plate fixing component to the receiving plate alignment component of the alignment plate, aligning the receiving plate so that the movement path of the light irradiated from the light-emitting element is aligned with the photosensitive element of the receiving plate.

5. The method for manufacturing a lidar receiver according to claim 4, characterized in that, The above-mentioned receiver board alignment steps include: The receiving plate vertical alignment step is controlled by the receiving plate alignment component to move the receiving plate along an axis extending in the up-down direction or to rotate it around an axis extending in the left-right or front-back direction. The receiving plate horizontal alignment step is controlled by the aforementioned receiving plate alignment member to move the receiving plate along an axis extending in the left-right direction or to rotate it along an axis extending in the up-down direction; and The focusing step is controlled by the aforementioned receiving plate alignment component, which moves the receiving plate along an axis extending in the front-rear direction.

6. The method for manufacturing a lidar receiver according to claim 1, characterized in that, The above-mentioned perspective confirmation steps include: The vertical alignment confirmation step confirms whether the multiple photosensitive elements detect light while the alignment plate rotates around an axis extending in the left-right direction; and In the horizontal alignment confirmation step, the alignment plate rotates around an axis extending in the vertical direction, while the intensity of light detected by the multiple photosensitive elements is symmetrical.

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