Rotating mirror laser radar assembling method

Abstract

This application relates to a method for assembling and adjusting a rotating mirror lidar. The method includes a transmitting module comprising a light-emitting chip and a transmitting lens. The position of the light-emitting chip and / or the transmitting lens is adjusted so that the light emitted by the light-emitting chip and the optical axis of the transmitting lens are aligned and both are positioned along the Y-axis. The rotating mirror has a first reflecting surface and a second reflecting surface. The position of the rotating mirror is adjusted so that the first reflecting surface is parallel to the Z-axis. The position of the rotating mirror is adjusted so that when the rotating mirror rotates around the Z-axis within a preset angle range, the first reflecting surface can receive and completely reflect the light emitted by the transmitting module to the target field of view. By assembling and adjusting the transmitting module and rotating mirror to the appropriate position on-site through the above steps, the product can be designed accordingly based on the specific model and arrangement of the transmitting module and rotating mirror. This eliminates the need for simulation experiments to determine the arrangement of the transmitting module and rotating mirror, as is done in related technologies. This improves product performance, reduces prototyping costs, and shortens the product design cycle.

Description

Technical Field

[0001] This application relates to the field of radar assembly and adjustment technology, and in particular to a method for assembling and adjusting a rotating mirror lidar. Background Technology

[0002] The rotating mirror lidar is one of the most important environmental sensors in intelligent driver assistance systems, acting as the car's "eyes." As the main lidar, it is generally installed at the front of the car, primarily detecting vehicles in front and sensing their distance. When a vehicle appears within a preset range, the rotating mirror lidar will issue a reminder or warning, assisting the driver in better understanding the environment ahead when driving or changing lanes.

[0003] In related technologies, rotating mirror lidar includes a transmitting module, a rotating mirror, and a receiving module. The assembly and adjustment of each component of a rotating mirror lidar typically begins with simulation analysis using simulation software. Based on the simulation results, the optimal placement is determined, and then the corresponding product is manufactured. However, the simulation process often overlooks various factors affecting product performance, including but not limited to crosstalk, leading to designs that fail to meet performance requirements. This necessitates iterative design of new products to achieve the desired performance, resulting in high costs, low efficiency, and long product design cycles. Summary of the Invention

[0004] Therefore, it is necessary to overcome the shortcomings of existing technologies and provide a rotating mirror lidar assembly and adjustment method that can improve product performance, reduce costs, and shorten the product design cycle.

[0005] A method for assembling and adjusting a rotating mirror lidar, the method comprising:

[0006] The emitting module assembly and adjustment steps include a emitting module comprising light-emitting chips and emitting lenses spaced apart. By adjusting the position of the light-emitting chips and / or the position of the emitting lenses, the light rays from the light-emitting chips are made to coincide with the optical axis of the emitting lenses, and both are set along the Y-axis.

[0007] The rotating mirror assembly and adjustment step involves adjusting the position of the rotating mirror so that the first reflective surface is parallel to the Z-axis; then moving and adjusting the position of the rotating mirror along at least one of the X-axis, Y-axis and Z-axis so that when the rotating mirror rotates around the Z-axis within a preset angle range, the first reflective surface can receive and completely reflect the light emitted by the transmitting module to the target field of view.

[0008] The X-axis, Y-axis, and Z-axis are mutually perpendicular to each other, forming a three-dimensional coordinate system.

[0009] In one embodiment, the rotating mirror lidar assembly and adjustment method further includes:

[0010] The receiving module pre-adjustment step before the rotating mirror assembly and adjustment step, the receiving module includes receiving lenses and receiving chips arranged at intervals, the receiving module pre-adjustment step includes receiving chip pre-adjustment step, by adjusting the position of the receiving chip so that the receiving plane of the receiving chip is perpendicular to the Y axis, and so that the light emitted by the transmitting module hits the center part of the receiving plane.

[0011] The receiving module pre-adjustment step also includes a receiving lens pre-adjustment step, wherein the receiving lens is arranged between the transmitting lens and the receiving chip, and the position of the receiving lens is adjusted so that the optical axis of the receiving lens coincides with the light from the light-emitting chip.

[0012] In one embodiment, adjusting the position of the receiving chip so that its receiving plane is perpendicular to the Y-axis includes the following steps:

[0013] Provide a first plumb line and set the light emitted by the first plumb line to the Y-axis direction;

[0014] A first reflector is provided, and the first reflector is connected to the receiving chip, such that the reflecting surface of the first reflector is parallel or coplanar with the receiving plane of the receiving chip;

[0015] The first plumb line hits the reference beam onto the reflective surface of the first mirror. By adjusting the position of the receiving chip, the reference beam from the first plumb line hits the reflective surface of the first mirror perpendicularly.

[0016] In one embodiment, the step of causing the light emitted by the transmitting module to hit the center of the receiving plane includes:

[0017] The position of the receiving chip is adjusted by moving it along the X-axis and / or Z-axis so that the light emitted by the transmitting module moves to the center of the receiving plane.

[0018] In one embodiment, the step of aligning the optical axis of the receiving lens with the light from the light-emitting chip includes:

[0019] When it is determined that the light spot formed by the light emitted from the receiving lens at the center of the receiving plane meets the preset clear condition, the optical axis of the receiving lens coincides with the light from the light-emitting chip.

[0020] In one embodiment, the rotating mirror further includes a second reflecting surface arranged at an angle to the first reflecting surface; the rotating mirror lidar assembly and adjustment method further includes a receiving module assembly and adjustment step:

[0021] A first target plate is provided, which is perpendicular to the X-axis. The first reflective surface is used to reflect the light from the transmitting module to the first target plate. The first target plate is used to scatter the light from the transmitting module to the second reflective surface. The second reflective surface is used to reflect the light from the first target plate to the receiving module.

[0022] The position of the receiving module is adjusted by moving it along at least one of the X-axis, Y-axis and Z-axis, so that the light spot on the receiving chip reaches a preset clear condition.

[0023] In one embodiment, the launch module assembly and adjustment steps include:

[0024] Provide a second target plate, making the second target plate perpendicular to the Y-axis;

[0025] Adjust the position of the light-emitting chip so that the light emitted by the light-emitting chip is perpendicular to the second target plate;

[0026] The light source marking the light-emitting chip hits the second target plate to obtain the first light spot;

[0027] The emitting lens is placed between the light-emitting chip and the second target plate, so that the light from the light-emitting chip enters the emitting lens and hits the second target plate to obtain a second light spot;

[0028] Adjust the position of the transmitting lens so that the marked position of the second light spot coincides with that of the first light spot, and make the second light spot achieve a preset clear condition.

[0029] In one embodiment, making the second target plate perpendicular to the Y-axis includes the step of:

[0030] Provide a first plumb line and set the light emitted by the first plumb line to the Y-axis direction;

[0031] A second reflector is set on the second target plate, and the reflecting surface of the second reflector is parallel to the second target plate. The position of the second target plate is adjusted so that the light emitted by the first plumb line hits the reflecting surface of the second reflector perpendicularly.

[0032] In one embodiment, the step of setting the light from the light-emitting chip along the Y-axis includes:

[0033] Provide a first plumb line and set the light emitted by the first plumb line to the Y-axis direction;

[0034] A third reflector is provided and connected to the light-emitting chip, such that the reflecting surface of the third reflector is parallel or coplanar with the light-emitting surface of the light-emitting chip;

[0035] The first plumb line hits the reference light onto the reflective surface of the third mirror. By adjusting the position of the light-emitting chip, the reference light from the first plumb line hits the reflective surface of the third mirror perpendicularly.

[0036] In one embodiment, making the first reflecting surface parallel to the Z-axis includes:

[0037] Provide a second plumb line and set the light emitted by the second plumb line to the X-axis direction;

[0038] A first target plate is provided, such that the first target plate is perpendicular to the X-axis;

[0039] A fourth reflector is installed on the first target plate;

[0040] Adjust the position of the rotating mirror so that the light spot hit by the emission module on the first reflective surface coincides with the light spot reflected by the fourth reflective mirror onto the first reflective surface.

[0041] The above-described rotating mirror lidar assembly and adjustment method involves assembling and adjusting the transmitting module and rotating mirror to the appropriate positions on-site through the above steps. Once the rotating mirror is adjusted to the appropriate position, the product can be designed accordingly based on the specific model and arrangement position of the transmitting module and rotating mirror. This eliminates the need to obtain the arrangement position of the transmitting module and rotating mirror through simulation experiments as in related technologies, thereby improving product performance, reducing prototyping and trial production costs, and shortening the product design cycle. Attached Figure Description

[0042] Figure 1 This is a structural diagram of the second target plate according to an embodiment of this application.

[0043] Figure 2 This is a structural diagram showing the position of the light-emitting chip according to an embodiment of this application.

[0044] Figure 3 This is a structural diagram of the first light spot of a marker light-emitting chip according to an embodiment of this application.

[0045] Figure 4 This is a structural diagram illustrating the positioning of the transmitting lens according to an embodiment of this application.

[0046] Figure 5 This is a structural diagram showing the location of the pre-tuned receiving chip according to an embodiment of this application.

[0047] Figure 6 This is a structural diagram of the pre-adjusted receiving lens position according to an embodiment of this application.

[0048] Figure 7 This is a structural diagram of a rotating mirror according to an embodiment of this application.

[0049] Figure 8 This is a structural diagram of the assembly and adjustment receiving module according to an embodiment of this application.

[0050] Figure 9 This is a flowchart of a rotating mirror lidar assembly and adjustment method according to an embodiment of this application.

[0051] 10. Transmitting module; 11. Light-emitting chip; 111. First light spot; 12. Transmitting lens; 121. Second light spot; 20. Rotating mirror; 21. First reflecting surface; 22. Second reflecting surface; 30. Receiving module; 31. Receiving lens; 32. Receiving chip; 321. Receiving plane; 41. First plumb bob; 42. Second plumb bob; 51. First reflecting mirror; 52. Second reflecting mirror; 53. Third reflecting mirror; 54. Fourth reflecting mirror; 55. Fifth reflecting mirror; 61. First multi-axis adjustment structure; 62. Second multi-axis adjustment structure; 63. Third multi-axis adjustment structure; 64. Fourth multi-axis adjustment structure; 70. Slide rail; 81. First target plate; 82. Second target plate. Detailed Implementation

[0052] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0053] See Figure 9 , Figure 9 This invention illustrates a flowchart of a rotating mirror lidar assembly and adjustment method according to an embodiment of this application. The rotating mirror lidar assembly and adjustment method provided in this embodiment includes:

[0054] Step S200, see reference Figures 2 to 4 The installation and adjustment steps of the transmitting module 10: The transmitting module 10 includes light-emitting chips 11 and transmitting lenses 12 arranged at intervals. By adjusting the position of the light-emitting chips 11 and / or the position of the transmitting lenses 12, the light rays of the light-emitting chips 11 are made to coincide with the optical axis of the transmitting lenses 12, and both are set along the Y-axis.

[0055] Step S300, see reference Figure 7 The installation and adjustment steps for the rotating mirror 20 are as follows: The rotating mirror 20 is provided with a first reflecting surface 21. The position of the rotating mirror 20 is adjusted so that the first reflecting surface 21 is parallel to the Z-axis; then the position of the rotating mirror 20 is adjusted along at least one of the X-axis, Y-axis, and Z-axis so that the rotating mirror 20 is rotated around the Z-axis at a preset angle (e.g., ...). Figure 7When rotating within the range shown in a), the first reflective surface 21 can receive and completely reflect the light emitted by the transmitting module 10 to the target field of view.

[0056] In other words, when the rotating mirror 20 rotates around the Z-axis within a preset angle range, the light emitted by the emitting module 10 is reflected outward through the first reflecting surface 21 and does not interfere with the external structure.

[0057] It should be noted that the preset angle range can be flexibly adjusted and set according to actual needs, and is not limited here.

[0058] In this system, the X, Y, and Z axes are mutually perpendicular to each other, forming a three-dimensional coordinate system. Furthermore, the direction of rotation around the Z-axis is defined as the r-direction, the direction of rotation around the X-axis as the P-direction, and the direction of rotation around the Y-axis as the q-direction.

[0059] like Figures 1 to 8 As shown in any of the figures, the coordinate system shown is viewed from a top-down direction (i.e., along the Z-axis). The coordinate system adopts the internationally accepted ISO vehicle coordinate system. The direction in which the front of the vehicle is facing forward is defined as the X-axis, with forward being the positive direction. The angle of rotation around the X-axis is defined as angle p. The left-right direction perpendicular to the front of the vehicle is defined as the Y-axis, with right being the positive direction. The angle of rotation around the Y-axis is defined as angle q. The up-down direction perpendicular to the front of the vehicle is defined as the Z-axis, with up being the positive direction. The angle of rotation around the Z-axis is defined as angle r.

[0060] The above-described method for assembling and adjusting a rotating mirror lidar involves assembling and adjusting the transmitting module 10 and the rotating mirror 20 to their appropriate positions on-site. Once the rotating mirror 20 is in the correct position, the product can be designed accordingly based on the specific model and arrangement of the transmitting module 10 and the rotating mirror 20. This eliminates the need to obtain the arrangement of the transmitting module 10 and the rotating mirror 20 through simulation experiments as is done in related technologies. As a result, product performance can be improved, prototyping costs can be reduced, and the product design cycle can be shortened.

[0061] Please see Figure 9 In one embodiment, the rotating mirror lidar assembly and adjustment method further includes step S280: a pre-adjustment step for the receiving module 30 prior to the rotating mirror 20 assembly and adjustment step, wherein the receiving module 30 includes a receiving lens 31 and a receiving chip 32 spaced apart. The receiving module 30 pre-adjustment step includes the receiving chip 32 pre-adjustment step S281; please refer to [link to relevant documentation]. Figure 5 By adjusting the position of the receiving chip 32, the receiving plane 321 of the receiving chip 32 is made perpendicular to the Y-axis, and the light emitted by the transmitting module 10 hits the center of the receiving plane 321.

[0062] The pre-adjustment step of the receiving module 30 also includes the pre-adjustment step S282 of the receiving lens 31, please refer to [link / reference]. Figure 6The receiving lens 31 is arranged between the transmitting lens 12 and the receiving chip 32. The position of the receiving lens 31 is adjusted so that the optical axis of the receiving lens 31 coincides with the light from the light-emitting chip 11.

[0063] In one embodiment, see Figure 5 Step S281, which involves adjusting the position of the receiving chip 32 so that its receiving plane 321 is perpendicular to the Y-axis, includes:

[0064] Step S2811: Provide the first plumb bob 41, and direct the light emitted by the first plumb bob 41 (such as...) Figure 5 (As shown in t1) is set as the Y-axis direction;

[0065] Step S2812: Provide a first reflector 51 and connect the first reflector 51 to the receiving chip 32, so that the reflecting surface of the first reflector 51 is parallel or coplanar with the receiving plane 321 of the receiving chip 32.

[0066] Step S2813, the first plumb line 41 sets the reference ray (such as...) Figure 5 (As shown in t1) The light beam from the first plumb line 41 hits the reflective surface of the first reflector 51. By adjusting the position of the receiving chip 32, the reference light beam from the first plumb line 41 hits the reflective surface of the first reflector 51 perpendicularly.

[0067] Specifically, the reference ray of the first plumb line 41 is determined (e.g., Figure 5 The method of striking the reflecting surface of the first reflecting mirror 51 perpendicularly (as shown in t1) is, for example, the reference ray of the first plumb line 41 (such as...) Figure 5 (As shown in t1) After being incident on the reflecting surface of the first reflecting mirror 51, it is reflected by the reflecting surface of the first reflecting mirror 51 to the first altimeter 41. Observing the emitting surface of the first altimeter 41, if the reference ray of the first altimeter 41 (such as t1) is... Figure 5 (as shown in t1) and the reflected light reflected by the first reflecting mirror 51 (as shown in t1) Figure 5 If the light spots (as shown in t2) overlap, it indicates that the reference light of the first plumb line 41 is perpendicular to the reflecting surface of the first reflecting mirror 51; otherwise, the position of the light-emitting chip 11 needs to be adjusted further.

[0068] Optionally, after the step of making the receiving plane 321 of the receiving chip 32 perpendicular to the Y-axis, the step of removing the first reflector 51 from the receiving chip 32 is further included.

[0069] Specifically, the receiving chip 32 is mounted on the machine base via a first multi-axis adjustment structure 61 and is specifically connected to a slide rail 70 on the machine base. The guide direction of the slide rail 70 is, for example, parallel to the Y-axis. Optionally, the first multi-axis adjustment structure 61 can drive the receiving chip 32 to adjust its position in at least one of the X-axis, Y-axis, and Z-axis axial directions, and to adjust its position in at least one of the p-direction, q-direction, and r-direction. Optionally, the first multi-axis adjustment structure 61 includes, but is not limited to, a three-axis adjustment structure, a four-axis adjustment structure, a five-axis adjustment structure, or a six-axis adjustment structure, etc. In this embodiment, the first multi-axis adjustment structure 61 is, for example, a four-axis adjustment structure, which can respectively realize displacement adjustment in the X-axis direction, displacement adjustment in the Z-axis direction, rotational adjustment in the p-direction, and rotational adjustment in the q-direction.

[0070] In one embodiment, the step of making the light emitted by the transmitting module 10 hit the center of the receiving plane 321 includes: moving and adjusting the position of the receiving chip 32 along the X-axis and / or Z-axis so that the light emitted by the transmitting module 10 moves to the center of the receiving plane 321.

[0071] In one embodiment, the step of aligning the optical axis of the receiving lens 31 with the light from the light-emitting chip 11 includes:

[0072] Please see Figure 6 The transmitting module 10 emits light along the Y-axis to the receiving lens 31, which then hits the center of the receiving plane 321. When it is determined that the light spot formed by the light emitted from the receiving lens 31 at the center of the receiving plane 321 meets the preset clear condition, the optical axis of the receiving lens 31 coincides with the light from the light-emitting chip 11, and the adjustment of the position of the receiving lens 31 is stopped.

[0073] Conversely, if not, the optical axis of the receiving lens 31 does not coincide with the light from the light-emitting chip 11, and the position of the receiving lens 31 needs to be moved and adjusted until the light spot formed by the emitted light from the receiving lens 31 at the center of the receiving plane 321 reaches the preset clear condition. Specifically, the movement and adjustment of the receiving lens 31 includes, but is not limited to, at least one of the X-axis direction, Y-axis direction, Z-axis direction, p direction, q direction, and r direction.

[0074] It should be noted that the preset clarity conditions can be flexibly adjusted and set according to actual needs. For example, the brightness of the light spot can be used as a basis to determine whether the preset clarity conditions have been met, and / or the diameter of the visible area of ​​the light spot can be used as a basis to determine whether the preset clarity conditions have been met. Alternatively, some auxiliary equipment in related technologies can be used to determine whether the light spot has met the preset clarity conditions.

[0075] Specifically, the receiving lens 31 is connected to, for example, a second multi-axis adjustment structure 62, which is connected to, for example, a slide rail 70. Similar to the first multi-axis adjustment structure 61, the second multi-axis adjustment structure 62 may be, but is not limited to, a three-axis adjustment structure, a four-axis adjustment structure, a five-axis adjustment structure, or a six-axis adjustment structure, etc. In this embodiment, the second multi-axis adjustment structure 62 is selected as a six-axis adjustment structure.

[0076] In one embodiment, see Figure 8 The rotating mirror 20 is also provided with a second reflecting surface 22 arranged at an angle to the first reflecting surface 21. The rotating mirror lidar assembly and adjustment method also includes a receiving module 30 assembly and adjustment step S400, specifically located after the rotating mirror 20 assembly and adjustment step. The receiving module 30 assembly and adjustment step S400 includes:

[0077] Step S410: Provide a first target plate 81, making the first target plate 81 perpendicular to the X-axis. The first reflective surface 21 is used to reflect the light from the transmitting module 10 to the first target plate 81. The first target plate 81 is used to scatter the light from the transmitting module 10 to the second reflective surface 22. The second reflective surface 22 is used to reflect the light from the first target plate 81 to the receiving module 30.

[0078] Step S420: Adjust the position of the receiving module 30 by moving it along at least one of the X-axis, Y-axis and Z-axis, so that the light spot on the receiving chip 32 reaches the preset clear condition.

[0079] In this way, by moving and adjusting the receiving module 30 along the X-axis, Y-axis or Z-axis on site, the light spot of the receiving chip 32 can reach the preset clear condition, that is, the receiving efficiency of the receiving chip 32 is relatively high. Therefore, it is not necessary to obtain it through software simulation analysis as in related technologies. This can improve product performance, reduce prototyping costs, and shorten the product design cycle.

[0080] In one embodiment, the assembly and adjustment step S200 of the transmitter module 10 includes:

[0081] Step S210, please refer to Figure 1 Provide a second target plate 82, such that the second target plate 82 is perpendicular to the Y-axis;

[0082] Step S220, please refer to Figure 2 and Figure 3 Adjust the position of the light-emitting chip 11 so that the light emitted by the light-emitting chip 11 (such as...) Figure 3 (As shown in t3) is perpendicular to the second target plate 82;

[0083] Step S230, please refer to Figure 3 The light rays that mark the light-emitting chip 11 (such as...) Figure 3The first light spot 111 (as shown in t3) hits the second target plate 82;

[0084] Specifically, the center position of the first light spot 111 that hits the second target plate 82 is marked for comparison and judgment in step S250 below.

[0085] Step S240, please refer to Figure 4 The emitting lens 12 is placed between the light-emitting chip 11 and the second target plate 82, so that the light from the light-emitting chip 11 (such as...) Figure 4 As shown in t3, the light from the transmitting lens 12 enters the transmitting lens 12, and the light from the transmitting lens 12 (as shown in t3) enters the transmitting lens 12. Figure 4 (As shown in t4) The second light spot 121 was obtained by hitting the second target plate 82;

[0086] Step S250, please refer to Figure 4 Adjust the position of the transmitting lens 12 so that the marked positions of the second light spot 121 and the first light spot 111 coincide, and make the second light spot 121 reach the preset clear condition.

[0087] In one embodiment, see Figure 1 The step S210 is to make the second target plate 82 perpendicular to the Y-axis.

[0088] Step S211: Provide a first plumb bob 41 and set the light emitted by the first plumb bob 41 to the Y-axis direction;

[0089] Step S212: Set a second reflector 52 on the second target plate 82. The reflecting surface of the second reflector 52 is parallel or coplanar with the second target plate 82. Adjust the position of the second target plate 82 so that the light emitted by the first plumb line 41 hits the reflecting surface of the second reflector 52 perpendicularly.

[0090] In one embodiment, the method for determining whether the light emitted by the first plumb bob 41 strikes the reflecting surface of the second reflector 52 perpendicularly includes, for example, determining whether the light spot formed on the first plumb bob 41 by the light reflected from the reflecting surface of the second reflector 52 coincides with the light spot emitted by the first plumb bob 41. If they coincide, it indicates that the position of the second target plate 82 is adjusted in place and the second target plate 82 is perpendicular to the Y-axis; otherwise, the position of the second target plate 82 needs to be adjusted further.

[0091] Optionally, the method to make the light from the light-emitting chip 11 perpendicular to the second target plate 82 can be either to set the light from the light-emitting chip 11 along the Y-axis, or to use the second reflector 52 to adjust the position of the light-emitting chip 11 so that the light from the light-emitting chip 11 hits the second reflector 52, thereby making the light-emitting chip 11 perpendicular to the reflecting surface of the second reflector 52. Specifically, the method to determine whether the light from the light-emitting chip 11 is perpendicular to the reflecting surface of the second reflector 52 is to determine whether the light spot formed on the emitting surface of the light-emitting chip 11 by the light reflected from the reflecting surface of the second reflector 52 coincides with the light spot formed by the emitted light on the emitting surface of the light-emitting chip 11. If they coincide, it indicates that the light from the light-emitting chip 11 is perpendicular to the second target plate 82.

[0092] In one embodiment, after the step of making the second target plate 82 perpendicular to the Y-axis, and before the step of marking the light-emitting chip 11 to strike the second target plate 82 to obtain the first light spot 111, the method further includes the step of removing the second reflector 52 from the second target plate 82. In this way, the light from the light-emitting chip 11 strikes the second target plate 82 accordingly and obtains the first light spot 111, meaning the second reflector 52 will not interfere with the light from the light-emitting chip 11.

[0093] In one embodiment, see Figure 2 Step S220, which sets the light from the light-emitting chip 11 along the Y-axis, includes:

[0094] Step S221: Provide a first plumb bob 41 and set the light emitted by the first plumb bob 41 to the Y-axis direction;

[0095] Step S222: Provide a third reflector 53 and connect the third reflector 53 to the light-emitting chip 11, so that the reflecting surface of the third reflector 53 is parallel or coplanar with the light-emitting surface of the light-emitting chip 11.

[0096] Step S223: The first plumb line 41 hits the reference light onto the reflective surface of the third reflector 53. By adjusting the position of the light-emitting chip 11, the reference light from the first plumb line 41 hits the reflective surface of the third reflector 53 perpendicularly.

[0097] Specifically, the method for determining whether the reference light beam of the first plumb line 41 is perpendicular to the reflecting surface of the third reflecting mirror 53 is as follows: After the reference light beam of the first plumb line 41 is incident on the reflecting surface of the third reflecting mirror 53, it is reflected back to the first plumb line 41 by the reflecting surface of the third reflecting mirror 53. Observe the emitting surface of the first plumb line 41. If the light spot of the reference light beam of the first plumb line 41 coincides with the light spot of the reflected light beam reflected by the third reflecting mirror 53, it indicates that the reference light beam of the first plumb line 41 is perpendicular to the reflecting surface of the third reflecting mirror 53; otherwise, it is necessary to continue to adjust the position of the light-emitting chip 11.

[0098] In one embodiment, the light-emitting chip 11 is connected to a third multi-axis adjustment structure 63, which is connected to a slide rail 70, for example. Similar to the first multi-axis adjustment structure 61, the third multi-axis adjustment structure 63 may include, but is not limited to, a three-axis adjustment structure, a four-axis adjustment structure, a five-axis adjustment structure, or a six-axis adjustment structure, etc. In this embodiment, the third multi-axis adjustment structure 63 is selected as a four-axis adjustment structure.

[0099] In one embodiment, see Figure 7 Step S300, which makes the first reflecting surface 21 parallel to the Z-axis, includes:

[0100] Step S310: Provide a second plumb bob 42 and set the light emitted by the second plumb bob 42 to the X-axis direction;

[0101] Step S320: Provide a first target plate 81, making the first target plate 81 perpendicular to the X-axis;

[0102] Step S330: Set the fourth reflector 54 on the first target plate 81;

[0103] Step S340: Adjust the position of the rotating mirror 20 so that the light spot of the transmitting module 10 hitting the first reflecting surface 21 coincides with the light spot reflected by the fourth reflecting mirror 54 onto the first reflecting surface 21.

[0104] Please see Figure 7 Optionally, a fifth reflector 55 is provided on the first target plate 81, and the reflecting surface of the fifth reflector 55 is parallel to the first target plate 81. The position of the first target plate 81 is adjusted so that the light emitted by the first plumb line 41 hits the reflecting surface of the fifth reflector 55 perpendicularly.

[0105] Specifically, the method for determining whether the light emitted by the second plumb bob 42 hits the reflecting surface of the fifth reflecting mirror 55 perpendicularly includes, for example, determining whether the light spot formed on the second plumb bob 42 by the light reflected from the reflecting surface of the fifth reflecting mirror 55 coincides with the light spot emitted by the second plumb bob 42. If they coincide, it means that the position of the first target plate 81 is adjusted in place and the first target plate 81 is perpendicular to the X-axis; otherwise, the position of the first target plate 81 needs to be adjusted further.

[0106] In one embodiment, the transmitting lens 12 is connected, for example, to a fourth multi-axis adjustment structure 64, which is connected, for example, to a slide rail 70. Similar to the first multi-axis adjustment structure 61, the fourth multi-axis adjustment structure 64 may include, but is not limited to, a three-axis, four-axis, five-axis, or six-axis adjustment structure, etc. In this embodiment, the fourth multi-axis adjustment structure 64 is a six-axis adjustment structure.

[0107] In one embodiment, the second plumb bob 42 and the first plumb bob 41 are, for example, the same plumb bob. When the same plumb bob is used, the light is positioned along the X-axis or the Y-axis by, for example, rotating it 90 degrees around the Z-axis.

[0108] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0109] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated, nor should they be construed as limiting the order of process steps. Thus, a feature specified with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0110] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0111] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0112] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0113] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0114] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for assembling and adjusting a rotating mirror lidar, characterized in that, The method for assembling and adjusting the rotating mirror lidar includes: The emitting module assembly and adjustment steps include a emitting module comprising light-emitting chips and emitting lenses spaced apart. By adjusting the position of the light-emitting chips and / or the position of the emitting lenses, the light rays from the light-emitting chips are made to coincide with the optical axis of the emitting lenses, and both are set along the Y-axis. The rotating mirror assembly and adjustment step involves adjusting the position of the rotating mirror so that the first reflective surface is parallel to the Z-axis; then moving and adjusting the position of the rotating mirror along at least one of the X-axis, Y-axis and Z-axis so that when the rotating mirror rotates around the Z-axis within a preset angle range, the first reflective surface can receive and completely reflect the light emitted by the transmitting module to the target field of view. The X-axis, Y-axis, and Z-axis are mutually perpendicular to each other, forming a three-dimensional coordinate system. The rotating mirror lidar assembly and adjustment method also includes: The receiving module pre-adjustment step before the rotating mirror assembly and adjustment step includes a receiving module comprising a receiving lens and a receiving chip spaced apart. The receiving module pre-adjustment step includes a receiving chip pre-adjustment step, in which the position of the receiving chip is adjusted so that the receiving plane of the receiving chip is perpendicular to the Y-axis, and the light emitted by the transmitting module hits the center of the receiving plane. The receiving module pre-adjustment step also includes a receiving lens pre-adjustment step, wherein the receiving lens is arranged between the transmitting lens and the receiving chip, and the position of the receiving lens is adjusted so that the optical axis of the receiving lens coincides with the light from the light-emitting chip.

2. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The step of adjusting the position of the receiving chip so that its receiving plane is perpendicular to the Y-axis includes: Provide a first plumb line instrument, and set the light emitted by the first plumb line instrument to the Y-axis direction; A first reflector is provided, and the first reflector is connected to the receiving chip, such that the reflecting surface of the first reflector is parallel or coplanar with the receiving plane of the receiving chip; The first plumb line hits the reference beam onto the reflective surface of the first mirror. By adjusting the position of the receiving chip, the reference beam from the first plumb line hits the reflective surface of the first mirror perpendicularly.

3. The method for assembling and adjusting a rotating mirror lidar according to claim 2, characterized in that, The step of making the receiving plane of the receiving chip perpendicular to the Y-axis includes the step of removing the first reflector from the receiving chip.

4. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The step of causing the light emitted by the transmitting module to hit the center of the receiving plane includes: The position of the receiving chip is adjusted by moving it along the X-axis and / or Z-axis, so that the light emitted by the transmitting module moves to the center of the receiving plane.

5. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The step of aligning the optical axis of the receiving lens with the light source of the light-emitting chip includes: When it is determined that the light spot formed at the center of the receiving plane by the emitted light from the receiving lens meets the preset clear condition, the optical axis of the receiving lens coincides with the light from the light-emitting chip.

6. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The rotating mirror also has a second reflecting surface arranged at an angle to the first reflecting surface; the rotating mirror lidar assembly and adjustment method further includes a receiving module assembly and adjustment step: A first target plate is provided, which is perpendicular to the X-axis. The first reflective surface is used to reflect the light from the transmitting module to the first target plate. The first target plate is used to scatter the light from the transmitting module to the second reflective surface. The second reflective surface is used to reflect the light from the first target plate to the receiving module. The position of the receiving module is adjusted by moving it along at least one of the X-axis, Y-axis and Z-axis, so that the light spot on the receiving chip reaches a preset clear condition.

7. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The launch module assembly and adjustment steps include: Provide a second target plate, making the second target plate perpendicular to the Y-axis; Adjust the position of the light-emitting chip so that the light emitted by the light-emitting chip is perpendicular to the second target plate; The light source marking the light-emitting chip hits the second target plate to obtain the first light spot; The emitting lens is placed between the light-emitting chip and the second target plate, so that the light from the light-emitting chip enters the emitting lens and hits the second target plate to obtain a second light spot; Adjust the position of the transmitting lens so that the marked position of the second light spot coincides with that of the first light spot, and make the second light spot achieve a preset clear condition.

8. The method for assembling and adjusting a rotating mirror lidar according to claim 7, characterized in that, Making the second target plate perpendicular to the Y-axis includes the following steps: Provide a first plumb line instrument, and set the light emitted by the first plumb line instrument to the Y-axis direction; A second reflector is set on the second target plate, and the reflecting surface of the second reflector is parallel to the second target plate. The position of the second target plate is adjusted so that the light emitted by the first plumb line hits the reflecting surface of the second reflector perpendicularly.

9. The method for assembling and adjusting a rotating mirror lidar according to claim 1, characterized in that, The step of setting the light from the light-emitting chip along the Y-axis includes: Provide a first plumb line instrument, and set the light emitted by the first plumb line instrument to the Y-axis direction; A third reflector is provided, and the third reflector is connected to the light-emitting chip, such that the reflecting surface of the third reflector is parallel or coplanar with the light-emitting surface of the light-emitting chip; The first plumb line hits the reference light onto the reflective surface of the third mirror. By adjusting the position of the light-emitting chip, the reference light from the first plumb line hits the reflective surface of the third mirror perpendicularly.

10. The method for assembling and adjusting a rotating mirror lidar according to any one of claims 1 to 9, characterized in that, Making the first reflecting surface parallel to the Z-axis includes: Provide a second plumb line and set the light emitted by the second plumb line to the X-axis direction; A first target plate is provided, such that the first target plate is perpendicular to the X-axis; A fourth reflector is installed on the first target plate; Adjust the position of the rotating mirror so that the light spot hit by the emission module on the first reflective surface coincides with the light spot reflected by the fourth reflective mirror onto the first reflective surface.

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